The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Soft Actuator Development for Artificial Muscle

인공근육개발을 위한 소프트 액추에이터 연구

  • Kang, Gyeongji (Center for Intelligent & Interactive Robotics KIST, Seoul, Korea) ;
  • Song, Kahye (Undergraduate Student, Mechanical System Design Engineering, Seoul National University of Science and Technology)
  • Received : 2020.11.19
  • Accepted : 2020.12.28
  • Published : 2021.02.26
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Abstract

Soft robot research has been actively conducted due to the advantages of soft materials that have less motion restrictions and higher energy efficiency compared to rigid robots. In particular, soft robots are being applied in more and more diverse fields, and the need for soft robots is increasing, especially when dealing with soft or deformable objects that rigid robots cannot perform. Various soft robots are being developed, and studies on artificial muscles with versatility, seamless integration with sensing, and self-healing capabilities are being proposed. In this study, we propose one of the most simple rectangular shaped HASEL (Hydraulically amplified self-healing electrostatic) actuators and compare the performance according to shape deformation such as the size or ratio of actuators and electrodes. Developing these actuators can be used in many ways for artificial muscles in soft robotics.

Keywords

References

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