Double-layered electrohydraulic actuator for bi-directional bending motion of soft gripper

Sohyun Kim; Youngsu Cha

doi:10.1109/UR52253.2021.9494690

Double-layered electrohydraulic actuator for bi-directional bending motion of soft gripper

Sohyun Kim, Youngsu Cha

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2021 18th International Conference on Ubiquitous Robots, UR 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	645-649
Number of pages	5
ISBN (Electronic)	9781665438995
DOIs	https://doi.org/10.1109/UR52253.2021.9494690
Publication status	Published - 2021 Jul 12
Event	18th International Conference on Ubiquitous Robots, UR 2021 - Gangneung-si, Gangwon-do, Korea, Republic of Duration: 2021 Jul 12 → 2021 Jul 14

Publication series

Name	2021 18th International Conference on Ubiquitous Robots, UR 2021

Conference

Conference	18th International Conference on Ubiquitous Robots, UR 2021
Country/Territory	Korea, Republic of
City	Gangneung-si, Gangwon-do
Period	21/7/12 → 21/7/14

Bibliographical note

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: [email protected]) Y. Cha is with School of Electrical Engineering, Korea University, Seoul 02841, Republic of Korea (e-mail: [email protected])

Publisher Copyright:
© 2021 IEEE.

ASJC Scopus subject areas

Biomedical Engineering
Mechanical Engineering
Control and Optimization
Artificial Intelligence

Access to Document

10.1109/UR52253.2021.9494690

Cite this

Kim, S., & Cha, Y. (2021). Double-layered electrohydraulic actuator for bi-directional bending motion of soft gripper. In 2021 18th International Conference on Ubiquitous Robots, UR 2021 (pp. 645-649). Article 9494690 (2021 18th International Conference on Ubiquitous Robots, UR 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/UR52253.2021.9494690

Double-layered electrohydraulic actuator for bi-directional bending motion of soft gripper. / Kim, Sohyun; Cha, Youngsu.
2021 18th International Conference on Ubiquitous Robots, UR 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 645-649 9494690 (2021 18th International Conference on Ubiquitous Robots, UR 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kim, S & Cha, Y 2021, Double-layered electrohydraulic actuator for bi-directional bending motion of soft gripper. in 2021 18th International Conference on Ubiquitous Robots, UR 2021., 9494690, 2021 18th International Conference on Ubiquitous Robots, UR 2021, Institute of Electrical and Electronics Engineers Inc., pp. 645-649, 18th International Conference on Ubiquitous Robots, UR 2021, Gangneung-si, Gangwon-do, Korea, Republic of, 21/7/12. https://doi.org/10.1109/UR52253.2021.9494690

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note = "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: [email protected]) Y. Cha is with School of Electrical Engineering, Korea University, Seoul 02841, Republic of Korea (e-mail: [email protected]) Publisher Copyright: {\textcopyright} 2021 IEEE.; 18th International Conference on Ubiquitous Robots, UR 2021 ; Conference date: 12-07-2021 Through 14-07-2021",

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Double-layered electrohydraulic actuator for bi-directional bending motion of soft gripper

Abstract

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Bibliographical note

ASJC Scopus subject areas

Access to Document

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