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http://dx.doi.org/10.7736/KSPE.2012.29.7.717

Dynamic Modeling and Design of Finger Exoskeleton Using Polymer Actuator  

Jeong, Gwang-Hun (Department of Mechanical Engineering, Myongji Univ.)
Kim, Yoon-Jeong (Department of Mechanical Engineering, Myongji Univ.)
Yoon, Bye-Ri (Department of Chemical and Biological Engineering, Seoul National Univ.)
Wang, Hyuck-Sik (Department of Chemical and Biological Engineering, Seoul National Univ.)
Song, Dae-Seok (Department of Chemical and Biological Engineering, Seoul National Univ.)
Kim, Sul-Ki (Department of Chemical and Biological Engineering, Seoul National Univ.)
Rhee, Kye-Han (Department of Mechanical Engineering, Myongji Univ.)
Jho, Jae-Young (Department of Chemical and Biological Engineering, Seoul National Univ.)
Kim, Dong-Min (Department of Electrical Engineering, Hongik University)
Lee, Soo-Jin (Department of Mechanical Engineering, Myongji Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.29, no.7, 2012 , pp. 717-722 More about this Journal
Abstract
This paper presents the design and dynamic model of the finger exoskeleton actuated by Ionic Polymer Metal Composites (IPMC) to assist a tip pinch task. Although this exoskeleton will be developed to assist 3 degree-of-freedom motion of each finger, it has been currently made to perform the tip pinch task using 1 degree-of-freedom mechanism as the first step. The six layers of IPMC were stacked in parallel to increase the low actuation force of IPMC. In addition, the finger dummy was manufactured to evaluate the performance of the finger exoskeleton. The pinch task experiments, which were performed on the finger dummy with the developed exoskeleton, showed that the pinch force close to the desired level was obtained. Moreover, the dynamic model of the exoskeleton and finger dummy was developed in order to perform the various analyses for the improvement of the exoskeleton.
Keywords
Finger Exoskeleton; Dynamic Finger Model; Ionic Polymer Metal Composites;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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