0
research-article

Sliding Filament Joint Mechanism: Biomimetic Approach for Overcoming Limitations of Soft Linear Actuators

[+] Author and Article Information
Kyeong Ho Cho

Ph.D., Robotics Innova-tory Laboratory, School of Mechanical Engineering, Sungkyunkwan University, Suwon, Gyeonggi-do, KS002, South Korea
woozoo@hanmail.net

Hosang Jung

Ph.D. course student, Robotics Innova-tory Laboratory, School of Mechanical Engineering, Sungkyunkwan University, Suwon, Gyeonggi-do, KS002, South Korea
jhsx1004@skku.edu

Sang Yul Yang

Ph.D. course student, Robotics Innova-tory Laboratory, School of Mechanical Engineering, Sungkyunkwan University, Suwon, Gyeonggi-do, KS002, South Korea
didtkddbf@skku.edu

Youngeun Kim

Master, Robotics Innova-tory Laboratory, School of Mechanical Engineering, Sungkyunkwan University, Suwon, Gyeonggi-do, KS002, South Korea
civelin@skku.edu

Rodrigue Hugo

Assistant Professor, Soft Robotics Laboratory, School of Mechanical Engineering, Sungkyunkwan University, Suwon, Gyeonggi-do, KS002, South Korea
hugorod60@hotmail.com

Hyungpil Moon

Associate Professor, Robotics and Intelligent System Engineering Laboratory, School of Mechanical Engineering, Sungkyunkwan University, Suwon, Gyeonggi-do, KS002, South Korea
hyungpil@me.skku.ac.kr

Ja C. Koo

Professor, Computer Aided Mechanical dynAmic System Laboratory, School of Mechanical Engineering, Sungkyunkwan University, Suwon, Gyeonggi-do, KS002, South Korea
jckoo@me.skku.ac.kr

Hyouk Ryeol Choi

Professor, Robotics Innova-tory Laboratory, School of Mechanical Engineering, Sungkyunkwan University, Suwon, Gyeonggi-do, KS002, South Korea
hrchoi@me.skku.ac.kr

1Corresponding author.

ASME doi:10.1115/1.4042349 History: Received August 14, 2018; Revised December 14, 2018

Abstract

In a living body, skeletal muscle is the main actuator to make movement. In order to make meaningful movements, skeletal muscles of a living body require bones and joints. Thus, as well as artificial skeletal muscles, artificial joints are surely required for developing robotic applications such as robotic prosthetics and bionic body parts. Soft linear actuators make linear displacement by shrinkage and relaxation like skeletal muscles, and they can be used as artificial skeletal muscles. They deform their body to create displacement. However, the restoring force generated by the deformation of their soft body reduces the force available from the soft linear actuator. This actuation structure is a critical drawback in the application of soft linear actuators. Therefore, an artificial joint mechanism that can improve the drawback of soft linear actuator was developed through functional mimicry of skeletal muscles. In this study, the basic performance and usefulness of the joint mechanism was confirmed by using shape-memory-alloy actuators (called SMA in general). In addition, the joint control strategy of the mechanism by adopting the joint control principle of living body was proposed and its performance was experimentally validated.

Copyright (c) 2018 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In