TY - GEN
T1 - Double-layered electrohydraulic actuator for bi-directional bending motion of soft gripper
AU - Kim, Sohyun
AU - Cha, Youngsu
N1 - Funding Information:
This work was supported by the National Research Foundation of Korea (NRF) through the Ministry of Science and ICT (MSIT), Korean Government under Grant 2020R1A2C2005252. (*Corresponding author: Youngsu Cha) S. Kim is with School of Electrical Engineering, Korea University, Seoul 02841, Republic of Korea (e-mail: sohyun1224@korea.ac.kr) Y. Cha is with School of Electrical Engineering, Korea University, Seoul 02841, Republic of Korea (e-mail: ys02@korea.ac.kr)
Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/12
Y1 - 2021/7/12
N2 - There are significant demands to develop soft grippers capable of performing sophisticated tasks such as grasping various types of unstructured objects. To facilitate the development of soft grippers, new actuators based on soft materials and structures that can increase their adaptability to objects are needed. In this study, we propose a new soft electrohydraulic actuator and a robotic gripper. The proposed actuator creates bi-directional bending motion by that two modules are constrained to each other. Also, the gripper based on the soft actuators realizes a wide operating range depending on the combination of the actuator's bending direction. The results demonstrate the grasping ability to grab deformable and delicate objects of various shapes. These bi-directional soft actuators provide new design ideas for mobile robots and wearable devices as well as soft grippers.
AB - There are significant demands to develop soft grippers capable of performing sophisticated tasks such as grasping various types of unstructured objects. To facilitate the development of soft grippers, new actuators based on soft materials and structures that can increase their adaptability to objects are needed. In this study, we propose a new soft electrohydraulic actuator and a robotic gripper. The proposed actuator creates bi-directional bending motion by that two modules are constrained to each other. Also, the gripper based on the soft actuators realizes a wide operating range depending on the combination of the actuator's bending direction. The results demonstrate the grasping ability to grab deformable and delicate objects of various shapes. These bi-directional soft actuators provide new design ideas for mobile robots and wearable devices as well as soft grippers.
UR - http://www.scopus.com/inward/record.url?scp=85112421775&partnerID=8YFLogxK
U2 - 10.1109/UR52253.2021.9494690
DO - 10.1109/UR52253.2021.9494690
M3 - Conference contribution
AN - SCOPUS:85112421775
T3 - 2021 18th International Conference on Ubiquitous Robots, UR 2021
SP - 645
EP - 649
BT - 2021 18th International Conference on Ubiquitous Robots, UR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th International Conference on Ubiquitous Robots, UR 2021
Y2 - 12 July 2021 through 14 July 2021
ER -