Title :
Soft actuator for robotic applications based on dielectric elastomer: dynamic analysis and applications
Author :
Choi, H.R. ; Ryew, S.M. ; Jung, K.M. ; Kim, H.M. ; Jeon, J.W. ; Nam, J.D. ; Maeda, Ryutaro ; Tanie, K.
Author_Institution :
Sungkyunkwan Univ., South Korea
Abstract :
In this paper a new soft actuator based on dielectric elastomer is proposed. The actuator, called an antagonistically-driven linear actuator (ANTLA), has the muscle-like characteristics capable of performing the motions such as forward/backward/controllable compliance. In this paper, its dynamic analysis is performed with experimental verifications, and applications for robotic actuating devices are introduced
Keywords :
dielectric devices; elastomers; electric actuators; microactuators; microrobots; antagonistically-driven linear actuator; backward control; dielectric elastomer; dynamics; forward control; microrobots; muscle like characteristics; soft actuator; Controllability; Dielectric materials; Electrodes; Electrostatics; Equations; Hydraulic actuators; Motion control; Polymer films; Prototypes; Robots;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013722
