• Journal of the KSME
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• v.46 no.4 s.305
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• pp.57-62
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• 2006

• Journal of the KSME
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• v.44 no.6
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• pp.40-47
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• 2004

18세기 일어난 산업혁명은 중세 농업국가에서 근대 산업국가로 탈바꿈하는 계기가 되었다 이러한 역사적 사건이 일어나게 된 초석은 바로 증기기관의 발명이다. 이후 산업화의 발자취를 살펴보면 새로운 동력 변환 장치가 개발될 때마다 사회경제적인 변화가 발생하고 새로운 패러다임을 가진 세상이 열리게 됨을 알 수 있다. 21세기에 출현하리라고 많은 사람들이 기대하고 있는 것 중 하나가 바로 인간형 또는 생체 모방형 로봇이다. (중략)

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.12
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• pp.1179-1183
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• 2007

Electro-Active paper(EAPap) is a new smart material that has a potential to be used in biomimetic actuator and sensor. It is made by cellulose that is abundant material in nature. EAPap is fascinating with its biodegradability, lightweight, large displacement, high mechanical strength and low actuation voltage. Actuating mechanism of EAPap is known to be the combined effects of ion migration and piezoelectricity. However, the electromechanical actuation mechanisms are not yet to be established. This paper presents the modeling of the actuation behavior of water infused cellulose samples and their composite dielectric constants calculated by Maxwell-Wagner theory. Electro-mechanical forces were calculated using Maxwell stress tensor method. Bending deflection was evaluated from simple beam model and compared with experimental observation, and which result in good correlation with each other.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.36 no.5
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• pp.539-543
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• 2012

Cellulose Electro-Active Paper (EAPap) is attractive as a biomimetic actuator because of its merits: it is lightweight, operates in dry conditions, has a large displacement output, has a low actuation voltage, and has low power consumption. Cellulose is regenerated so as to align its microfibrils, which results in a piezoelectric paper. When chemically bonded and mixed with carbon nanotubes, titanium oxide, zinc oxide, tin oxides, the cellulose EAPap can be used as a hybrid nanocomposite that has versatile properties and that can meet the requirements of many application devices. This paper presents trends in recent research on the cellulose EAPap, mainly on material preparation and its use in devices, including biosensors, chemical sensors, flexible transistors, and actuators. This paper also explains wirelessly driving technology for the cellulose EAPap, which is attractive for use in biomimetic robotics and micro-aerial vehicles.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.727-730
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• 2005

Cellulose based Electro-Active Papers (EAPap) is very promising material due to its merits in terms of large bending deformation, low actuation voltage, ultra-lightweight, and biodegradability. These advantages make it possible to utilize applications, such as artificial muscles and achieving flapping wings, micro-insect robots and smart wall papers. This paper investigates the in-plane strains of EAPap under electric fields, which are useful for a contractile actuator application The preparation of EAPap samples and the in-plane strain measurement system are explained, and the test results are shown in terms of electric field, frequency and the oriental ions of the samples. The power consumption and the strain energy of EAPap samples are discussed. Although there are still unknown facts in EAPap material, this in-plane strain may be useful for artificial muscle applications.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.3
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• pp.302-306
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• 2012

Bacterial cellulose based actuator with large displacement was developed for biomimetic robots. Bacterial cellulose has 3D nanostructure with high porosity which was composed of the nanofibers. Freeze dried bacterial cellulose was dipped into ionic liquid solution such as 1-butyl-3-methylimidazolium(BMIMCl) to enhance the actuation performance due to increase the ionexchange capacity and ionic conductivity. And Poly(3,4-ethylenedioxythiophene)-poly (styrnenesulfonate)(PEDOT:PSS) was used for the electrodes of both side of bacterial cellulose actuator by dipping and drying method. The FT-IR and XRD were conducted to examine the electrochemical changes of developed bacterial cellulose actuator. The biomimetic caudal fin was designed using bacterial cellulose actuator and PDMS to verify the possibility for biomimetic robot. The step and harmonic response were conducted to evaluate the performance of developed biomimetic actuator.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.9
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• pp.1145-1151
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• 2010

In this paper, we discuss the design and simulation of a jumping-robot mechanism that is actuated by SMA (shape memory alloy) wires. We propose a jumping-robot mechanism; the structure of the robot is inspired by the musculoskeletal system of vertebrates, including humans. Each robot leg consists of three parts (a thigh, shank, and foot) and three kinds of muscles (gluteus maximus, rectus femoris, and gastrocnemius). The jumping capability of the robot model was tested by means of computer simulations, and it was found that the robot can jump to about four times its own height. This robot model was also compared with another model with a simpler structure, and the performance of the former, which was based on the biomimetic design, was 3.3 times better than that of the latter in terms of the jumping height. The simulation results also verified that SMA wires can be suitable actuators for small jumping robots.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.360-363
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• 2005

Biomimetic actuators composed of cellophane with an electrically conducting polyaniline(PANI) film have been fabricated and tested in air ambience conditions doped with two different counter ions such as perchlorate (${ClO_4}^-$) and tetrafluoroborate (${BF_4}^-$). Fabrication of the trilayer CP//CELLOPHANE//CP substantially enhanced the tip displacement (13.2mm) compared to the small displacement (8.3mm) of the bilaye. CP//CELLOPHANE. The ion migration among layers is the main factor behind the expansion of cellophane, while the expansion/contraction of PANI are dependent on the redox reaction of the polymer. The displacement of the composite is dominated by the humidity content. This implies that the actuation principle is possibly due to the assistance of water existing.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.444-450
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• 2006

IPMC actuators have been developed with multi-walled carbon nanotubes(MWNT) and $Nafion^{\circledR}$ ionic polymers. MWNT with different diameters of $3{\sim}5,\;4{\sim}6$ and $10{\sim}15$ nm and length of $10{\sim}20{\mu}m$ were used to enhance the mechanical and electrical performances of IPMC actuators. Ultrasonic treatment and high speed mixing were used to disperse MWNT homogeneously in $Nafion^{\circledR}$ solution. The electroless plating technique is used to make electrodes on the both side of the composite membrane. SEM and TEM images were taken to characterize the surface and micro-structures of the composite actuators. In this study, improved IPMC actuators were developed and compared with respect to bending actuation performance and electrical power consumptions.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.11
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• pp.1242-1250
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• 2011

Several biomimetic artificial muscles including the electro-active synthetic polymers (SSEBS, PSMI/PVDF, SPEEK/PVDF, SPSE, XSPSE, PVA/SPTES and SPEI), bio-polymers (Bacterial Cellulose and Cellulose Acetate) and nano-composite (SSEBS-CNF, SSEBS-$C_{60}$, Nafion-$C_{60}$ and PHF-SPEI) actuators are introduced in this paper. Also, some applications of the developed biomimetic actuators are explained including biomimetic robots and biomedical active devices. Present results show that the developed electro-active polymer actuators with high-performance bending actuation can be promising smart materials applicable to diverse applications.