Rotary Motion and Manipulation Using Electro-Hydraulic Actuator with Asymmetric Electrodes

Sohyun Kim, Youngsu Cha

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


Soft robotics require unique and novel actuators for various applications. Therefore, a novel soft electro-hydraulic actuator is proposed and its ability to manipulate a spherical object on an active plate is demonstrated. The proposed actuator has two actuation parts with asymmetric electrodes. Two types of deformations are created by applying voltages to the asymmetric electrodes of the actuator. By using various deformations from four electro-hydraulic actuators, an active plate is realized. The active plate can exhibit eight different inclinations that, allow a ball to be stopped in a desired target location. The results demonstrate that the ball's movement in a circular path may be maintained using active plate. Further, the ball can stop at the desired target points.

Original languageEnglish
Article number9050811
Pages (from-to)3945-3951
Number of pages7
JournalIEEE Robotics and Automation Letters
Issue number3
Publication statusPublished - 2020 Jul
Externally publishedYes

Bibliographical note

Funding Information:
Manuscript received September 15, 2019; accepted March 16, 2020. Date of publication March 30, 2020; date of current version April 20, 2020. This letter was recommended for publication by Associate Editor Jonathan Rossiter and Editor Kyu-Jin Cho upon evaluation of the reviewers’ comments. This work was supported by KIST flagship program under Project 2E30280. (Corresponding author: Youngsu Cha.) Sohyun Kim is with the Center for Intelligent and Interactive Robotics, Korea Institute of Science and Technology, Seoul 02792, Republic of Korea, and also with the Department of Mechanical System and Design Engineering, Seoul National University of Science and Technology, Seoul 01811, Republic of Korea (e-mail:

Publisher Copyright:
© 2016 IEEE.


  • Motion control
  • hydraulic/pneumatic actuators
  • 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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