• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.168-174
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• 2012

This paper presents a bending propagating actuation using SMA (Shape Memory Alloy) spring for an effective shape transition of a flytrap-inspired soft morphing structure. The flytrap-inspired soft morphing structure is made from unsymmetric CFRP (Carbon Fiber Reinforced Prepreg) structure which shows bi-stability and snap-through phenomenon. For a thin and large curved bistable CFRP structure, SMA spring is more acceptable than SMA wire and piezoelectric actuator which used in previous investigations. A bending propagating actuation is proposed which can induce snap-through of the bi-stable CFRP structure effectively. From this research, effective shape transition of soft morphing structure is possible.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.803-804
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• 2010

• Journal of the Korean Society for Precision Engineering
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• v.30 no.1
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• pp.39-46
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• 2013

Smart material such as SMA (Shape Memory Alloy) has been studied in various ways because it can perform continuous, flexible, and complex actuation in simple structure. Smart soft composite (SSC) was developed to achieve large deformation of smart material. In this paper, a shell actuator using woven type SSC was developed to enhance stiffness of the structure while keeping its deformation capacity. The fabricated actuator consisted of a flexible polymer and woven structure which contains SMA wires and glass fibers. The actuator showed various actuation motions by controlling a pattern of applied electricity because the SMA wires are embedded in the structure as fibers. To verify the actuation ability, we measured its maximum end-edge bending angle, twisting angle, and actuating force, which were $103^{\circ}$, $10^{\circ}$, and 0.15 N, respectively.

• Composites Research
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• v.28 no.2
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• pp.52-57
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• 2015

Soft morphing robotics making use of smart material and based on biomimetic principles are capable of continuous locomotion in harmony with its environment. Since these robots do not use traditional mechanical components, they can be built to be light weight and capable of a diverse range of locomotion. This paper illustrates a flexible smart phone robot made of smart soft composite (SSC) with inchworm-like locomotion capable of two-way linear motion. Since rigid components are embedded within the robot, bending actuators with embedded rigid segments were investigated in order to obtain the maximum bending curvature. To verify the results, a simple mechanical model of this actuator was built and compared with experimental data. After that, the flexible robot was implemented as part of a smart phone robot where the rigid components of the phone were embedded within the matrix. Then, experiments were conducted to test the smart phone robot actuation force under different deflections to verify its load carrying capability. After that, the communication between the smart phone and robot controller was implemented and a corresponding phone application was developed. The locomotion of the smart phone robot actuated through an independent controller was also tested.

• Journal of Adhesion and Interface
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• v.25 no.2
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• pp.69-74
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• 2024

Soft actuators can be applied to various fields such as the medical industry and manufacturing industry due to the flexibility and smooth movement resulted from their constituent materials. Stimuli-responsive hydrogels are a class of materials that can show large volume changes due to various surrounding stimuli and thus is suitable as a soft actuator material. However, because the change in volume of the stimuli-responsive hydrogel depends on the rate of temperature change and the rate at which the solvent diffuses into the polymer network, in most typical operating conditions, the response time of the actuator is slow due to inefficient heat transfer and diffusion process. In this study, a conjugated polymer was introduced into polydiethylacrylamide, a thermoresponsive hydrogel, to implement a soft actuator driven by light, and the improvement in response time by the photothermal effect of the conjugated polymer was investigated. It was confirmed that the response time was improved by 41% by the introduction of the conjugated polymer, due to the improvement in heat transfer efficiency. Finally, a soft gripper using the hydrogel with improved response time was fabricated and the response time of the gripper was investigated.