The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Development of an Electro-hydraulic Soft Zipping Actuator with Self-sensing Mechanism

자가 변위 측정이 가능한 전기-유압식 소프트 지핑 구동기의 개발

  • Received : 2020.11.30
  • Accepted : 2021.03.30
  • Published : 2021.05.31
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Abstract

Soft fluidic actuators (SFAs) are widely utilized in various areas such as wearable systems due to the inherent compliance which allows safe and flexible interaction. However, SFA-driven systems generally require a large pump, multiple valves and tubes, which hinders to develop a miniaturized system with small range of motion. Thus, a highly integrated soft actuator needs to be developed for implementing a compact SFA-driven system. In this study, we propose an electro-hydraulic soft zipping actuator that can be used as a miniature pump. This actuator exerts tactile force as a dielectric liquid contained inside the actuator pressurized its deformable part. In addition, the proposed actuator can estimate the internal dielectric liquid thickness by using its self-sensing function. Besides, the electrical characteristics and driving performance of the proposed system were verified through experiments.

Keywords

Acknowledgement

This work was supported by the National Research Foundation of Korea (NRF) Grant funded by the Korean Government (MSIT) (No.NRF-2019R1A2C2084677) and the Korea Evaluation Institute of Industrial Technology (KEIT) grant funded by the Korea Government (No. 20008912)

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