• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.188-192
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• 2012

In this study, a carbon nanotube (CNT) flexible strain sensor was fabricated with CNT based epoxy and rubber composites for tactile sensing. The flexible strain sensor can be fabricated as a long fibrous sensor and it also may be able to measure large deformation and contact information on a structure. The long and flexible sensor can be considered to be a continuous sensor like a dendrite of a neuron in the human body and we named the sensor as a biomimetic artificial neuron. For the application of the neuron in biomimetic engineering, an ANMS (Artificial Neuron Matrix System) was developed by means of the array of the neurons with a signal processing system. Moreover, a strain positioning algorithm was also developed to find localized tactile information of the ANMS with Labview for the application of an artificial e-skin.

• 제어로봇시스템학회논문지
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• 제21권12호
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• pp.1178-1184
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• 2015

In conventional robotics, charge-coupled device (CCD) and complementary metal-oxide-semiconductor (CMOS) cameras have been utilized for acquiring vision information. These devices have problems, such as narrow optic angles and inefficiencies in visual information processing. Recently, biomimetic vision sensors for robotic applications have been receiving much attention. These sensors are more efficient than conventional vision sensors in terms of the optic angle, power consumption, dynamic range, and redundancy suppression. This paper presents recent research trends on biomimetic vision sensors and discusses future directions.

• 로봇학회논문지
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• 제4권1호
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• pp.34-42
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• 2009

Rodents, specially rats, can recognize distance and shape of an object and also pattern of the textures by using their whiskers. Mechanoreceptors surrounding the root of whisker in their follicle measure deflection of the whisker. Rats can move their whisker back and forth freely. This ability, called active whisking or active sensing, is one of characteristics of rat behaviours. Many researches based on the mechanism have been progressed. In this paper, we test a simple and accurate method based on deflection of the whisker: we designed biomimetic whiskers modeling after a structure of follicle using the microphone. The microphone sensor measures a mechanical vibration. Attaching an artificial whisker beam to the microphone membrane, we can detect a vibration of whisker and this can show the deflection amount of whisker indirectly.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.493-494
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• 2012

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.73-76
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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, which result good correlation with each other.

• 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.

• 센서학회지
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• 제21권5호
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• pp.345-351
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• 2012

Biomimetic terpene sensors which have high sensitivity and stability have been fabricated using moleculary imprinted polymer (MIP) technology. Since it is impossible to make a resistive type sensor due to the high resistance of MIP, we improved the sensor by adding conductive polymers. We investigated the sensitivity of resistive type sensors with nano particles depending on the amount of conductive polymers. The MIP membrane contained the methacrylic acid as functional monomer and ethylene glycol dimethacrylate as cross linker, which formed specific cavities originated by the target terpene molecules. The mixture of MIP and the conductive polymer was coated on the patterns of interdigit electrodes on the alumina substrate. The fabricated sensors showed their highest specific sensitivities exposed to 500 ppm target gases : limonene 0.055 at 40% of amount of conductive polymers and geraniol $5.84{\times}10^{-4}$ at 20% of amount of conductive polymers. In conclusion, we found that the terpene sensors are affected by the target molecules, functional monomers and the conductive polymers.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2013년도 제45회 하계 정기학술대회 초록집
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• pp.90.1-90.1
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• 2013

Nature utilizes various of the colorization process. Some species of birds can express their mood of tempers by changing their collagen structures on skin. For example, turkey can change their skin color by expansion of the collagen structures, which are associated with the distinct color changes. Here, we developed bioinspired virus-based colorimetric sensors which can be genetically tuned for target molecule. Using M 13 bacteriophage, we fabricated responsive self-assembled color matrices composed of quasi-ordered fiber bundle structures. These virus matrices can exhibit color change by stimuli through fiber bundle structure modulation. Upon exposure of volatile organic compounds, the resulting multi-colored matrices exhibited distinct color changes with different ratios that can be recognized by the naked eyes. Using the directed evolutionary approaches, we genetically engineered the virus matrix to incorporate binding motif for explosive detection (i.e., trinitrotoluene (TNT)). Through utilizing a common handheld device (i.e., iPhone), we could distinguish TNT molecules down to 20 ppb in a selective manner. Our novel biomimetic virus colorimetric sensor can overcome current limitation for low response selectivity.

• 전자공학회논문지SC
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• 제47권4호
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• pp.55-60
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• 2010

설치류는 수염을 통해서 물체를 인식하는 능력을 갖추고 있다. 단연 설치류뿐만 아니라 많은 수의 포유류가 사물을 인식하는데 수염을 이용하지만 특히 설치류는 수염을 통해서 마이크로미터 단위의 표면의 거칠기 차이도 구별 할 수 있다. 설치류는 수염을 앞, 뒤로 능동적으로 움직이며 물체의 모양이나 표면의 거칠기, 패턴 따위를 판별한다. 실제 쥐 수염에는 수염뿌리 가까운 모낭 안에 수많은 신경이 모여 있어서 수염이 떨리거나 구부러질 때의 신호를 받아들인다. 쥐의 이러한 능력을 모방하여, 본 논문에서는 마이크로폰을 이용하여 쥐 수염 센서를 제작하고 제작한 수염 센서를 통해 물체 표면의 거칠기에 대한 정보를 얻고자 한다.

• 대한기계학회논문집A
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• 제36권12호
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• pp.1497-1502
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• 2012

복잡한 구조와 다채로운 기능을 수행하는 사람 손의 기능을 모사하는 로봇 손을 제작함에 있어서 유연성 있는 구동기와 센서의 개발이 필수적으로 요구되고 있다. 본 논문에서는 전기활성 고분자를 기반으로 하여 로봇 손에 사용될 수 있는 구동기와 슬립센서의 설계, 제작 및 성능검증에 대한 내용을 소개한다. 전기활성 고분자는 필름형태로 제작되며 양단에 전압을 가하여 수축과 팽창에 따른 움직임이 발생하게 한다. 이와 반대로 전기활성 고분자에 외부의 압력으로 인해 두께나 면적의 변화가 발생하게 되면 정전용량의 변화가 발생하게 된다. 이러한 에너지의 변화소자를 이용하여 구동기와 센서로 이용하였다. 본 논문에서는 전기활성 고분자를 이용한 구동기와 센서를 제시하고 성능평가를 통해 새로운 로봇 손용 에너지 변환 소자로서의 가능성을 연구하였다.