Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Analysis of Pinching Motion of a Finger Dummy Actuated by Electro-active Polymer Actuators

전기활성 고분자 구동체에 의한 손가락 모형의 집기 운동 분석

  • Lee, Doo Won (Department of Mechanical Engineering, Myongji Univ.) ;
  • Min, Min Sik (Department of Mechanical Engineering, Myongji Univ.) ;
  • Lee, Soo Jin (Department of Mechanical Engineering, Myongji Univ.) ;
  • Jho, Jae Young (Department of Chemical and Biological Engineering, Seoul National Univ.) ;
  • Kim, Dong Min (Department of Electrical Engineering, Hongik Univ.) ;
  • Rhee, Kyehan (Department of Mechanical Engineering, Myongji Univ.)
  • 이두원 (명지대학교 기계공학과) ;
  • 민민식 (명지대학교 기계공학과) ;
  • 이수진 (명지대학교 기계공학과) ;
  • 조재영 (서울대학교 화학생물공학부) ;
  • 김동민 (홍익대학교 전기공학과) ;
  • 이계한 (명지대학교 기계공학과)
  • Received : 2014.05.10
  • Accepted : 2014.05.31
  • Published : 2014.07.01
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Abstract

In order to demonstrate the possibility of applying an ionic polymer metal composite (IPMC) to a finger exoskeleton, pinching motion analysis was performed for a thumb-index finger dummy actuated by IPMC actuators. The IPMC actuators of 5mm in width and 40mm in length with 2.4mm thickness generated 1.52N of blocking force for the applying voltage of 4.0V. Three actuators were installed on the three rotary joint of an index finger, and one actuator was installed on one proximal joint. Positions of each joint and finger tip were recorded on the video camera, and motion was analyzed. Power supply to the index finger actuators preceded power supply to the thumb actuator, and key pinching motion was accomplished in 180s. Tip pinching was accomplished in 135s as power supply to the thumb preceded power supply to the index finger.

Keywords

References

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