28 July 2003 Multiple degree-of-freedom digital soft actuator for robotic applications
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In this paper we present a packaged actuator to be applied for micro and macro robotic applications. The actuator is based on polymer dielectrics, and intrinsically has musclelike characteristics capable of performing motions such as forward/backward/controllable compliance. The actuator is featured in several aspects such as simplicity and lightness in weight, cost-effectiveness, multiple DOF-actuation, and digital interface. In this paper, its basic concepts are briefly introduced and the issues about design, fabrication and applications are discussed.
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Hyoukryeol Choi, Hyoukryeol Choi, Kwang Mok Jung, Kwang Mok Jung, Jong Won Kwak, Jong Won Kwak, Sang Won Lee, Sang Won Lee, Hunmo Kim, Hunmo Kim, Jae Wook Jeon, Jae Wook Jeon, Jae Do Nam, Jae Do Nam, } "Multiple degree-of-freedom digital soft actuator for robotic applications", Proc. SPIE 5051, Smart Structures and Materials 2003: Electroactive Polymer Actuators and Devices (EAPAD), (28 July 2003); doi: 10.1117/12.484385; https://doi.org/10.1117/12.484385

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