Design of an Accordion-Fold-Inspired Soft Electrohydraulic Actuator for Angular Motion

Sohyun Kim; Yenee Oh; Joohyeon Kang; Youngsu Cha

doi:10.1109/LRA.2024.3384912

Design of an Accordion-Fold-Inspired Soft Electrohydraulic Actuator for Angular Motion

Sohyun Kim
, Yenee Oh
, Joohyeon Kang
, Youngsu Cha^*

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

5 Citations (Scopus)

Abstract

Angular motion of soft actuators is important for utilization in robotic systems. In the robots, the angular motion should enable agile movement and a wide range. This study proposes a novel design of a soft electrohydraulic actuator inspired by an accordion with an improved angular deformation range. The actuator generates instantaneous hydraulic force and achieves a fast response within 0.15 s upon activation. Furthermore, the accordion-fold structure of the actuator induces large rotational deformations of 171 degrees. We conduct a series of experiments to investigate the angular motion characteristics from the geometrical parameters of the actuator. Additionally, based on the experimental results, we demonstrate how to apply electrohydraulic actuators to animate objects.

Original language	English
Pages (from-to)	4750-4757
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	9
Issue number	5
DOIs	https://doi.org/10.1109/LRA.2024.3384912
Publication status	Published - 2024 May 1

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Keywords

Soft robot materials and design
soft robot applications
soft sensors and actuators

ASJC Scopus subject areas

Control and Systems Engineering
Biomedical Engineering
Human-Computer Interaction
Mechanical Engineering
Computer Vision and Pattern Recognition
Computer Science Applications
Control and Optimization
Artificial Intelligence

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10.1109/LRA.2024.3384912

Cite this

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abstract = "Angular motion of soft actuators is important for utilization in robotic systems. In the robots, the angular motion should enable agile movement and a wide range. This study proposes a novel design of a soft electrohydraulic actuator inspired by an accordion with an improved angular deformation range. The actuator generates instantaneous hydraulic force and achieves a fast response within 0.15 s upon activation. Furthermore, the accordion-fold structure of the actuator induces large rotational deformations of 171 degrees. We conduct a series of experiments to investigate the angular motion characteristics from the geometrical parameters of the actuator. Additionally, based on the experimental results, we demonstrate how to apply electrohydraulic actuators to animate objects.",

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AB - Angular motion of soft actuators is important for utilization in robotic systems. In the robots, the angular motion should enable agile movement and a wide range. This study proposes a novel design of a soft electrohydraulic actuator inspired by an accordion with an improved angular deformation range. The actuator generates instantaneous hydraulic force and achieves a fast response within 0.15 s upon activation. Furthermore, the accordion-fold structure of the actuator induces large rotational deformations of 171 degrees. We conduct a series of experiments to investigate the angular motion characteristics from the geometrical parameters of the actuator. Additionally, based on the experimental results, we demonstrate how to apply electrohydraulic actuators to animate objects.

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Design of an Accordion-Fold-Inspired Soft Electrohydraulic Actuator for Angular Motion

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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