• 기계저널
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• 제46권4호
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• pp.57-62
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• 2006

• 기계저널
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• 제44권6호
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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)

• 한국소음진동공학회논문집
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• 제17권12호
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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.

• 대한기계학회논문집B
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• 제36권5호
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• pp.539-543
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• 2012

셀룰로오스 EAPap 작동기는 생체 모방형 작동기의 하나로 생체적합하고 가볍고 비교적 낮은 전압에서도 큰 변위를 발생시킨다는 장점을 가지고 있다. 셀룰로오스를 재생하면서 셀룰로오스 파이버를 배열함으로써 압전 종이를 만들었다. 한편 셀룰로오스에 탄소나노튜브, 산화금속 나노분말, 전도성 고분자, 이온성 유체등을 물리적, 화학적으로 결합시켜 다양한 하이브리드 나노복합재를 만들었다. 본 논문에서는 셀룰로오스 EAPap 의 제조공정 및 이를 응용한 바이오센서, 화학센서, 유연트랜지스터, 그리고 작동기의 응용 디바이스에 대해 소개한다. 또한 셀룰로오스 EAPap 을 무선으로 구동하는 기술에 대해 소개한다. 이는 생체모방로봇, 정찰 등에 활용될 수 있다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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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.

• 한국정밀공학회지
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• 제29권3호
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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.

• 대한기계학회논문집A
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• 제34권9호
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• pp.1145-1151
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• 2010

본 논문은 형상기억합금 와이어에 의해 구동되는 점핑로봇에 대한 연구로서 기구의 설계와 컴퓨터 시뮬레이션을 포함하고 있다. 인간과 같은 척추동물 하지 근골격계의 구조와 기능을 모방한 구조의 점핑 기구를 설계하였다. 점핑 기구의 각 다리는 대퇴부, 정강이, 발의 세 부분으로 구성되고, 점핑에 필수적인 단일관절근육인 대둔근, 양관절근육인 대퇴직근과 비복근을 포함하는 구조이다. 각 근육을 형상기억합금 와이어로 대체한 컴퓨터 모델로 시뮬레이션한 결과, 로봇의 최대 점핑 높이가 로봇 신장의 약 4 배임을 확인하였다. 또한 구조가 보다 단순화된 로봇 모델과 점핑 성능을 비교하였고, 그 결과 근골격계를 모방한 모델이 점핑 높이 면에서 3.3 배 우수한 것으로 나타났다. 이러한 컴퓨터 시뮬레이션을 통하여 형상기억합금이 소형 점핑로봇의 작동기로 사용하기에 적합함을 확인하였다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 춘계학술대회논문집
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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.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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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.

• 한국정밀공학회지
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• 제28권11호
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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.