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28 July 2003 Multiple degree-of-freedom digital soft actuator for robotic applications
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In this paper we present a packaged actuator to be applied for micro and macro robotic applications. The actuator is based on polymer dielectrics, and intrinsically has musclelike characteristics capable of performing motions such as forward/backward/controllable compliance. The actuator is featured in several aspects such as simplicity and lightness in weight, cost-effectiveness, multiple DOF-actuation, and digital interface. In this paper, its basic concepts are briefly introduced and the issues about design, fabrication and applications are discussed.
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Hyoukryeol Choi, Kwang Mok Jung, Jong Won Kwak, Sang Won Lee, Hunmo Kim, Jae Wook Jeon, and Jae Do Nam "Multiple degree-of-freedom digital soft actuator for robotic applications", Proc. SPIE 5051, Smart Structures and Materials 2003: Electroactive Polymer Actuators and Devices (EAPAD), (28 July 2003);

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