The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

A Soft Actuation System with Origami Pump for Maximizing Haptic Feedback

햅틱 피드백 극대화를 위한 오리가미 펌프 기반의 소프트 구동기 시스템

  • Received : 2020.11.23
  • Accepted : 2021.01.07
  • Published : 2021.02.26
Download PDF
⟨ Previous Next ⟩

Abstract

Traditional actuation system such as electric and pneumatic actuator has obvious advantages and disadvantages. To combine advantages and compensate disadvantages of the traditional actuation, a pneumatic actuation system with an internal air pressure source is noteworthy approach. In this paper, a soft pneumatic actuation system based on origami pump is described for haptic feedback glove. To improve wearability, an origami pump is introduced because the origami pump is much lighter than air compressor. The miniaturized electric actuation system is also designed with 3D printed planetary gear in order to reduce the volume of the system. To figure out the performance of the system, shrinkage distance of origami pump was measured with vision camera. The pressure in the origami pump was also estimated to understand the performance of the system.

Keywords

References

  1. M. Mokhinabonu and Y. Choi, "Review of wearable device technology and its applications to the mining industry," Energies, vol. 11, no. 3, 2018, DOI: 10.3390/en11030547.
  2. C. Lee, M. Kim, Y. J. Kim, N. Hong, S. Ryu, H. J. Kim, and S. Kim, "Soft robot review," International Journal of Control, Automation and Systems, vol. 15, no. 1, pp. 3-15, 2017, DOI: 10.1007/s12555-016-0462-3.
  3. J. Walker, T. Zidek, C. Harbel, S. Yoon, F. S. Strickland, S. Kumar, and M. Shin, "Soft Robotics: A Review of Recent Developments of Pneumatic Soft Actuators," Actuator, vol. 9, no. 1, 2020, DOI: 10.3390/act9010003.
  4. J.-H. Choi, D.-Y. Lee, and K.-J. Cho, "Dual-Stiffness by Combined Structures for Rigidity-Tuning of Soft Robot," The Journal of Korea Robotics Society, vol. 12, no. 3, pp. 263-269, Sept., 2017, DOI: 10.7746/jkros.2017.12.3.263.
  5. D. S. Choi, S. Y. Moon, and M. J. Hwang, "Improved Design for Enhanced Grip Stability of the Flexible Gripper in Harvesting Robot," The Journal of Korea Robotics Society, vol. 15, no. 2, pp. 107-114, Jun., 2020. https://doi.org/10.7746/jkros.2020.15.2.107
  6. L. Paez, G. Agarwal, and J. Paik, "Design and analysis of a soft pneumatic actuator with origami shell reinforcement," Soft Robotics, vol. 3, no. 3, pp. 109-119, 2016, DOI: 10.1089/soro.2016.0023.
  7. U. Gupta, L. Qin, Y. Wang, H. Godaba, and J. Zhu, "Soft robots based on dielectric elastomer actuators: a review," Smart Materials and Structures, vol. 28, no. 10, 2019, DOI: 10.1088/1361-665X/ab3a77.
  8. K. K. Ahn, D. N. C. Nam, and M. Jin, "Adaptive backstepping control of an electrohydraulic actuator," IEEE/ASME Transactions on Mechatronics, vol. 19, no. 3, pp. 987-995, 2013, DOI: 10.1109/TMECH.2013.2265312.
  9. Y. Kim and Y. Cha, "Soft Pneumatic Gripper with a Tendon-Driven Soft Origami Pump," Frontiers in Bioengineering and Biotechnology, 2020, DOI: 10.3389/fbioe.2020.00461.
  10. S. Kim, M. Kim, J. Kang, S. Son, and D. H. Kim, "Design and Control of Wire-driven Flexible Robot Following Human Arm Gestures," The Journal of Korea Robotics Society, vol. 14, no. 1, pp. 50-57, Mar., 2019, DOI: 10.7746/jkros.2019.14.1.050.