Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Dynamic Modeling and Design of Finger Exoskeleton Using Polymer Actuator

고분자 구동체를 이용한 손가락 외골격기구의 설계 및 동력학적 모델 개발

  • Jeong, Gwang-Hun (Department of Mechanical Engineering, Myongji Univ.) ;
  • Kim, Yoon-Jeong (Department of Mechanical Engineering, Myongji Univ.) ;
  • Yoon, Bye-Ri (Department of Chemical and Biological Engineering, Seoul National Univ.) ;
  • Wang, Hyuck-Sik (Department of Chemical and Biological Engineering, Seoul National Univ.) ;
  • Song, Dae-Seok (Department of Chemical and Biological Engineering, Seoul National Univ.) ;
  • Kim, Sul-Ki (Department of Chemical and Biological Engineering, Seoul National Univ.) ;
  • Rhee, Kye-Han (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 University) ;
  • Lee, Soo-Jin (Department of Mechanical Engineering, Myongji Univ.)
  • 정광훈 (명지대학교 기계공학과) ;
  • 김윤정 (명지대학교 기계공학과) ;
  • 윤벼리 (서울대학교 화학생물공학부) ;
  • 왕혁식 (서울대학교 화학생물공학부) ;
  • 송대석 (서울대학교 화학생물공학부) ;
  • 김슬기 (서울대학교 화학생물공학부) ;
  • 이계한 (명지대학교 기계공학과) ;
  • 조재영 (서울대학교 화학생물공학부) ;
  • 김동민 (홍익대학교 전기공학과) ;
  • 이수진 (명지대학교 기계공학과)
  • Received : 2012.04.27
  • Accepted : 2012.05.23
  • Published : 2012.07.01
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Abstract

This paper presents the design and dynamic model of the finger exoskeleton actuated by Ionic Polymer Metal Composites (IPMC) to assist a tip pinch task. Although this exoskeleton will be developed to assist 3 degree-of-freedom motion of each finger, it has been currently made to perform the tip pinch task using 1 degree-of-freedom mechanism as the first step. The six layers of IPMC were stacked in parallel to increase the low actuation force of IPMC. In addition, the finger dummy was manufactured to evaluate the performance of the finger exoskeleton. The pinch task experiments, which were performed on the finger dummy with the developed exoskeleton, showed that the pinch force close to the desired level was obtained. Moreover, the dynamic model of the exoskeleton and finger dummy was developed in order to perform the various analyses for the improvement of the exoskeleton.

Keywords

References

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