• Journal of the Korean Society for Precision Engineering
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• v.12 no.1
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• pp.97-103
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• 1995

This paper describes position and force hybrid control for a robot manipulator with artificial rubber muscle actuators. The controller using two control laws such as PID control and fuzzy logic control methods is designed. This paper concludes to show the effectiveness of the proposed controller by some experiments for a two-link manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.642-646
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• 1992

Trajectory tracking control problems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time-lag by the step response. Two control laws such as the feedforward and the computed torque control methods, are experimentally applied for controlling the circular trajectory of an actual robot manipulator.

• Applied Chemistry for Engineering
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• v.34 no.4
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• pp.347-356
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• 2023

Liquid crystal elastomer (LCE) fibers have been widely applied in various fields, such as soft robots and biomimetic actuators, in a one-dimensional form. LCEs possess the characteristics of both fluidity and solid order, as well as the elasticity of rubber, and exhibit stimulus-response based on these properties. In particular, by programming the responsiveness to various stimuli such as heat, light, electric fields, and magnetic fields in terms of shape-changing, various movements such as lifting, twisting, and rotating can be realized with high degrees of freedom. Therefore, LCE fibers have the potential for application in various fields such as artificial muscles, soft robots, wearable technologies, and sensing technologies. The research on liquid crystal elastomer fibers is evaluated to have high applicability in various fields in the Fourth Industrial Revolution as a smart material that can include various functionalities beyond simple fibers. In this review, we introduce the structure and basic characteristics of liquid crystal elastomer fibers, the latest research trends on orientation-based fabrication methods, and various applications such as artificial muscles, smart fabrics, and soft robots.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.4
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• pp.725-728
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• 2008

An elbow orthosis with a pneumatic rubber actuator has been developed to assist and enhance upper limbs movements and has been examined for the effectiveness. The effectiveness of the elbow orthosis was examined by comparing muscular activities during alternate dumbbell curl motion wearing and not wearing the orthosis. The subjects participated in the experiment were younger adults in their twenties. The subjects were instructed to perform dumbbell curl motion in a sitting position wearing and not wearing orthosis in turn and a dynamometer was used to measure elbow joint torque outputs in an isokinetic mode. Orthosis was controlled using contractile muscle force that is measured from force sensor through cDAQ-9172 board. The air pressure of the pneumatic actuator was 0.3MPa the most suitable air pressure. For the analysis of muscular activities, Electromyography of the subjects was measured during alternate dumbbell curl motion. The experiment results showed that the muscular activities wearing the elbow orthosis were reduced. With this, we confirmed the effectiveness of the developed elbow orthosis.

• Prospectives of Industrial Chemistry
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• v.24 no.6
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• pp.19-31
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• 2021

자극응답성 액정 엘라스토머(liquid crystal elastomer)는 하이드로겔(hydrogel), 형상 기억 고분자(shape memory polymer)와 더불어 생체 특성을 모방한 인공 근육, 소프트 액추에이터 및 소프트 로봇을 위한 스마트 소재로 최근 높은 관심을 받고 있다. 특히, 액정 엘라스토머는 고무 탄성과 액정 이방성이 결합된 비등방성 탄성 고분자로, 열, 빛, 전기 및 수분과 같은 외부자극에 반응하여 가역적이며, 액정 분자들의 배향조절을 통한 프로그램된 변형이 가능하다. 액정 엘라스토머가 개념 증명을 하는 수준을 넘어 실제로 유용한 소프트 액추에이터 및 로봇 시스템에 적용되기 위해서는 우수한 구동력 및 작업 용량, 높은 구동 변형률, 빠른 응답 시간, 낮은 구동 온도, 다양한 외부 자극반응성 및 높은 에너지 전환 효율 등을 확보하는 것이 중요하다. 본 기고문에서는 액정 엘라스토머의 개념에 대해 소개하고, 이러한 소재가 소프트 액추에이터로써 광범위하게 활용될 수 있도록 다양한 성능들을 향상시킬 수 있는 방법에 대해 소개하고자 한다.

• Polymer(Korea)
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• v.26 no.1
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• pp.113-120
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• 2002

Electrostriction is the phenomenon that a material is strained due to Maxwell stress developed by the applied voltage. In many electrostrictive materials, especially polymeric elastomers can produce large deformation and force due to their low elastic modulus. In this study, polyurethanes and acrylic rubber with compliant electrodes were used as electrostrictive polymer(EP) actuator. Actuation characteristics of the EP actuators with different physical properties of dynamic modulus and dynamic dielectiric constant were analyzed under AC field. The classical laminate theory was also used to simulate the actuation process in relation to the geometry and the physical properties of the actuators.

• Elastomers and Composites
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• v.47 no.4
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• pp.282-291
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• 2012

Control of shape/volume, mechanical, optical, electrical, and chemical switching of materials by external stimuli such as light, temperature, pH, electric field, and pressure has attracted great attention. Among these materials, photo-responsive materials containing photochromic compounds such as azobenzene, spiropyran, and cinnamic acid groups have been the subject of intense interest in recent years. In this review, we describe the recent progress in the area of azobenzene containing polymer materials that can convert light energy into mechanical energy directly. Especially we focus our attention on light-driven actuators such as artificial muscle, motor, and valve. We summarize the photomechanical effects in liquid crystal elastomer, amorphous polymer, monolayer, and supramolecules containing azobenzene, respectively.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.4
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• pp.305-313
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• 2016

Movements of the lower limb are important for normal walking and smooth oscillation of the center of gravity. The ankle rotations such as dorsi-flexion, plantar-flexion, inversion and eversion allows the foot to accommodate to ground during level ground walking. Current below knee (B/K) prostheses are used for replacing amputated ankle, and make it possible for amputees to walk again. However, most of amputees with B/K prostheses often experience a loss of terrain adaptability as well as stability because of limited ankle rotation. This study is focused on the development of multi-rotational prosthetic foot for lower limb amputee. Our prosthesis is possible for amputees to easily walk in level ground by rotating ankle joint in sagittal plane and adapt to the abnormal terrain with ankle rotation in coronal plane. The resistance of ankle joint in the direction of dorsi/plantar-flexion can be manually regulated by hydraulic damper with controllable nozzle. Furthermore, double layered rubber induce the prosthesis adapt to irregular ground by tilting itself in direction of eversion and inversion. The experimental results highlights the potential that our prosthesis induce a normal gait for below knee amputee.