Soft actuator for robotic applications based on dielectric elastomer: Quasi-static analysis

H. R. Choi; S. M. Ryew; K. M. Jung; H. M. Kim; J. W. Jeon; J. D. Nam; R. Maeda; K. Tanie

doi:10.1109/ROBOT.2002.1013721

Soft actuator for robotic applications based on dielectric elastomer: Quasi-static analysis

H. R. Choi
, S. M. Ryew
, K. M. Jung
, H. M. Kim
, J. W. Jeon
, J. D. Nam
, R. Maeda
, K. Tanie

Research output: Contribution to journal › Article › peer-review

51 Scopus citations

Abstract

In this paper a new soft actuator based on dielectric elastomer is proposed. The actuator, called ANTagonistically-driven Linear Actuator(ANTLA) has the musclelike characteristics capable of performing the motions such as forward/backward/controllable compliance. Due to its simplicity of configuration and ease of fabrication, it has the advantages to be scale-independently implemented in meso- or micro scale robotic applications. Its basic concepts are introduced and quasi-static analysis is performed with experimental verifications.

Original language	English
Pages (from-to)	3212-3217
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
DOIs	https://doi.org/10.1109/ROBOT.2002.1013721
State	Published - 2002
Externally published	Yes

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title = "Soft actuator for robotic applications based on dielectric elastomer: Quasi-static analysis",

abstract = "In this paper a new soft actuator based on dielectric elastomer is proposed. The actuator, called ANTagonistically-driven Linear Actuator(ANTLA) has the musclelike characteristics capable of performing the motions such as forward/backward/controllable compliance. Due to its simplicity of configuration and ease of fabrication, it has the advantages to be scale-independently implemented in meso- or micro scale robotic applications. Its basic concepts are introduced and quasi-static analysis is performed with experimental verifications.",

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T1 - Soft actuator for robotic applications based on dielectric elastomer

T2 - Quasi-static analysis

AU - Choi, H. R.

AU - Ryew, S. M.

AU - Jung, K. M.

AU - Kim, H. M.

AU - Jeon, J. W.

AU - Nam, J. D.

AU - Maeda, R.

AU - Tanie, K.

PY - 2002

Y1 - 2002

N2 - In this paper a new soft actuator based on dielectric elastomer is proposed. The actuator, called ANTagonistically-driven Linear Actuator(ANTLA) has the musclelike characteristics capable of performing the motions such as forward/backward/controllable compliance. Due to its simplicity of configuration and ease of fabrication, it has the advantages to be scale-independently implemented in meso- or micro scale robotic applications. Its basic concepts are introduced and quasi-static analysis is performed with experimental verifications.

AB - In this paper a new soft actuator based on dielectric elastomer is proposed. The actuator, called ANTagonistically-driven Linear Actuator(ANTLA) has the musclelike characteristics capable of performing the motions such as forward/backward/controllable compliance. Due to its simplicity of configuration and ease of fabrication, it has the advantages to be scale-independently implemented in meso- or micro scale robotic applications. Its basic concepts are introduced and quasi-static analysis is performed with experimental verifications.

UR - https://www.scopus.com/pages/publications/0036059526

U2 - 10.1109/ROBOT.2002.1013721

DO - 10.1109/ROBOT.2002.1013721

M3 - 文章

AN - SCOPUS:0036059526

SN - 1050-4729

VL - 3

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EP - 3217

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

ER -

Soft actuator for robotic applications based on dielectric elastomer: Quasi-static analysis

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