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Soft actuator for robotic applications based on dielectric elastomer: quasi-static analysis

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8 Author(s)
Choi, H.R. ; Sungkyunkwan Univ., South Korea ; Ryew, S.M. ; Jung, K.M. ; Kim, H.M.
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In this paper a new soft actuator based on dielectric elastomer is proposed. The actuator, called an antagonistically-driven linear actuator (ANTLA), has the muscle-like characteristics capable of performing the motions such as forward/backward/controllable compliance. Due to its simplicity of configuration and ease of fabrication, it has the advantage to be scale-independently implemented in meso- or micro-scale robotic applications. Its basic concepts are introduced and a quasi-static analysis is performed with experimental verifications

Published in:

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:3 )

Date of Conference:

2002