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Research

Current researches

 


Artificial Muscle Actuator


 

- OVER VIEW -

 

  We have developed new actuators made of dielectric polymer which has overall good performances such as actuating pressure, strain, high, efficiency, fast response, high energy density, and adjustable complience like human beings one with low cost.

 


Miniature quadruped walking robot


 

  This is a small legged robot using an artificial muscle actuator based on dielectric elastomer actuator. The robot is driven by a novel linear actuator called Multi-stacked Dilectric Elastomer Actuator, which can be easily embedded in the mechanism and ensures a compact design of the overall system.


Twisted Dielectirc Elastomer Stack Actuator


 

  The purpose of this research is to make an actuator which is easily adaptable to use as artificial muscle by improving structure of stack-type Dielectric Elastomer Actuator (DEA). In contrast with previous stack-type actuator, Single body Dielectric Elastomer stack Actuators (SDEAs) is connected as single body without external frame so that it can be actuated in twisted and bended state like human muscle. Consequently, it is applicable with no design limitations of rigid frame and has the advantages of flexibility and weight lightening. Using the advantages of SDEAs, we fabricate 2-ply structure SDEAs which can amplify the contraction rate and compare the performance with the non-ply SDEAs and evaluate that SDEAs is effective for use as artificial muscle application.

 


Dielectric Elastomer Actuator - Trapezoidal Type


 

This is a multi-stacked Dielectric Elastomer Actuator. It is composed of the Trapezoidal and plat Dielectric Elastomer. These are fabricated for Robot hand which made up with new type actuator.


Dielectric Elastomer Actuator - Rectangular Type


 

This is a multi-stacked Dielectric Elastomer Actuator. It is composed of the Rectangular and plat Dielectric Elastomer. These are fabricated for Robot hand which made up with new type actuator

 


Dielectric Elastomer Actuator - Circular Type


 

This is a multi-stacked Dielectric Elastomer Actuators. It is composed of the circular and plat Dielectric Elastomer. These are fabricated for Robot hand which made up with new type actuator.

 


Dielectric Elastomer


 

Actuation Principles
Electrostatic forces(Maxwell stress) between compliant electrodes provide pressure to deform dielectric elastomer

 


IPMC (Ionic Polymer-Metal Composites)


 

 - Strain: 3%
  - Energy density: 0.01-0.1 J/cm^3
  - Speed: 100 Hz
  - Output pressure: 10-30 MPa
  - Drive voltage: 1-2 V - Work best in aqueous environments

  •  
• Ion exchange polymer membrane : selectively pass ions of a single charge 
  - Nafion(Dupont), Flemion(Asahi glass)
• Metal plated electrodes on either side
  • • Applied voltage induces movement of ions and water - causes expansion on one side
  • • Bending movemen

 


Publications


 

  • • H. S. Jung, K. H. Cho, J. H. Park, S. Y. Yang, Y. E. Kim, K. H. Kim, C. T. Nguyen, ..., & Hyouk Ryeol Choi, (2018), "Musclelike Joint Mechanism Driven by Dielectirc Elastomer Actuator for Robotic Applications", Smart Materials and Structures, vol.27, no.7
  • • C. T. Nguyen, H. Phung, P. T. Hoang, T. D. Nguyen, H. S. Jung, H. R. Choi, "Development of an Insectinspired Hexapod Robot Actuated by Soft Actuators", 2018, vol.10, Issue 6, Mechanisms and Robotics
  • • Jung, H. S., Yang, S. Y., Cho, K. H., Song, M. G., & Choi, H. R. (2016, August). Twisted Dielectric Elastomer stack Actuator. In Ubiquitous Robots and Ambient Intelligence (URAI), 2016 13th International Conference on (pp. 112-113). IEEE.
  • • C. T. Nguyen, and H. R., Choi, 2015, Properties and Applications of Dielectric Elastomer Actuator, In S., Choi, and J. Kim (Eds.), Smart Materials Actuators: Recent Advances in Characterization and Applications, pp. 235–248, Hauppauge, NY, USA: Nova Science Publishers, Inc.
  • • H. Phung, C. T. Nguyen, T. D. Nguyen, C. Lee, U. Kim, D. Lee, H. Moon, J. C. Koo, and H. R. Choi, “Tactile display with rigid coupling based on soft actuator”, Meccanica, Vol. 50, No. 11, pp. 2825–2837, 2015.
  • • C. T. Nguyen, H. Phung, H. Jung, U. Kim, T. D. Nguyen, J. Park, H. Moon, J. C. Koo, and H. R. Choi, “Printable monolithic hexapod robot driven by soft actuator”, In IEEE International Conference on Robotics and Automation (ICRA), pp. 4484–4489, 2015.
  •  C. T. Nguyen, H. Phung, T. D. Nguyen, C. Lee, U. Kim, D. Lee, H. Moon, J. C. Koo, and H. R. Choi, “A small biomimetic quadruped robot driven by multistacked dielectric elastomer actuators”, Smart Materials and Structures, Vol. 23, No. 6, pp. 065005, 2014.
  • • H. S. Lee, H. Phung, D. H. Lee, U. K. Kim, C. T. Nguyen, H. Moon, J. C. Koo, and H. R. Choi,“Design analysis and fabrication of arrayed tactile display based on dielectric elastomer actuator”, Sensors and Actuators A: Physical, Vol. 205, pp. 191–198, 2014.
  • • C. T. Nguyen, H. Phung, T. D. Nguyen, C. Lee, U. Kim, D. Lee, H. Moon, J. C. Koo, and H. R. Choi,“Biomimetic printable hexapod robot driven by soft actuator”, In International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp. 189–190, 2014.
  • • C. T. Nguyen, N. L. Nguyen, H. Lee, D. Kim, C. Lee, H. Moon, J. C. Koo, J. Han, and H. R. Choi, Enhancement of transduction performance of a dielectric elastomer actuator based on acrylonitrile butadiene rubber, Macromolecular Research, Vol. 21, No. 1, pp. 85–91, 2013.
  • • Canh Toan Nguyen, Ngoc Linh Nguyen, Hyungseok Lee, Daegyeong Kim, Choonghan Lee,Hyungpil Moon, Ja Choon Koo, Jae-do Nam, JeongHeon Han, and Hyouk Ryeol Choi, "Enhancement of Transduction Performance of a Dielectric Elastomer Actuator Based on Acrylonitrile Butadiene Rubber" 2013/01
  • • 권혁용, 안광준, 김대경, 이형석, Nguyen Canh Toan, 구자춘, 문형필, 남재도, 최혁렬, 한국정밀공학회지 제 28 권 11 호 pp. 1234-1241
  • • Hyung Seok Lee, Dong Hyuk Lee, Dae Gyeong Kim, Ui Kyum Kim, Choong Han Lee, Nguyen Ngoc Linh, Nguyen Canh Toan, Ja Choon Koo, Hyungpil Moona, Jae-do Namb, Jeongheon Han, Hyouk Ryeol Choi, Tactile Display with Rigid Coupling, SPIE Electroactive Polymer Actuators and Devices (EAPAD) 2012, Vol. 8340, 2012/03/11-2012/03/15
  •  H. Y. Kwon, K. J. Ahn, D. G. Kim, H. S. Lee, C. T. Nguyen, J. C. Koo, H. Moon, J. Nam, and H. R. Choi, “Stacked Artificial Muscle Actuator Based on Dielectric Elastomer”, Journal of the Korean Society for Precision Engineering, Vol. 28, No. 11, pp. 1234–1241, 2011.
  • • Nguyen Huu Chuc, Nguyen Huu Lam Vuong, DukSang Kim, Hyungpil Moon, Ja Choon Koo, Youngkwan Lee, Jae-do Nam and Hyouk Ryeol Choi, "Design and Control of a Multi-jointed Robot Finger Driven by an Artificial Muscle Actuator", ADVANCED ROBOTICS, 2010/10, vol.24, no.14, pp.1983-2003, ISSN : 0169-1864
  • • Nguyen Huu Chuc, Nguyen Huu Lam Vuong, Duk Sang Kim, Hyung Pil Moon, Ja Choon Koo, Young Kwan Lee, Jae-Do Nam, and Hyouk Ryeol Choi, "Fabrication and Control of Rectilinear Artificial Muscle Actuator", IEEE/ASME TRANSACTIONS ON MECHATRONICS, 2010/03, vol.PP , no.99, pp.1-10, doi : 10.1109/TMECH.2009.2038223 , ISSN:1083-4435 
  • • An, K., Chuc, N. H., Kwon, H. Y., Phuc, V. H., Koo, J., Lee, Y., Nam, J., Choi, H. R., "Experimental study on behaviors of dielectric elastomer based on acrylonitrile butadiene rubber", Electroactive Polymer Actuators and Devices (EAPAD) 2010, Proceedings of SPIE Vol. 7642, 76420N (2010), 2010. 03. 07. ~ 2010. 03. 12., USA
  • • Nguyen Huu Chuc, Nguyen Huu Lam Vuong, DukSang Kim, Ja Choon Koo, Youngkwan Lee, Jae-do Nam and Hyouk Ryeol Choi, Design and Control of Multi-jointed Robot Finger based on Artificial Muscle Actuator, 9th IFAC Symposium on Robot Control (SYROCO'09), pp.535-540, 2009/09/09-2009/09/12 
  • • Huu Chuc Nguyen, JongKil Park, Huu Lam Vuong Nguyen, DukSang Kim, Ja Choon Koo, Youngkwan Lee, Jaedo Nam and Hyouk Ryeol Choi, Multi-jointed robot finger driven by artificial muscle actuator, in Proc. IEEE Int. Conf. Robotics and Automation (ICRA2009), pp.587-592, 2009/05/12-2009/05/17 
  • • S.J. Park, M.S. Cho, J.D. Nam, I.H. Kim, H.R Choi, J.C. Koo, Y. Lee, The linear stretching actuation behavior of polypyrrole nanorod in AAO template, Sensor and Actuators B: Chemical, vol.B135, issue.2, pp.592-596, 2009/01 
  • • Jun-Ho Lee, Hyoukryeol Choi, Jae-Do Nam, Tunable electrical properties of polystyrene/gold core-shell structure by in situ metallization of cationic gold complex on selective ion-exchange sites, Int. J. Materials Research, vol.24, no.1, pp.253-259, 2009/01 
  • • Nguyen Huu Chuc, Ja Choon Koo, Young Kwan Lee, Jae Do Nam and Hyouk Ryeol Choi, Artificial Muscle Actuator Based on the Synthetic Elastomer, Int. J. Control, Automation, and Systems, vol.6, no.6, pp.894-903, 2008/12 
  • • Huu Chuc Nguyen, Vu Thuy Doan, JongKil Park, Ja Choon Koo, Youngkwan Lee, Jae-do Nam and Hyouk Ryeol Choi, The effects of additives on the actuating performances of a dielectric elastomer actuator, SMART MATERIALS AND STRUCTURES, vol.18, pp.015006-1~9, 2008/12 
  • • Huu Chuc Nguyen, Huu Lam Vuong Nguyen, DukSang Kim, Ja Choon Koo, Hyouk Ryeol Choi, Youngkwan Lee, Jae Do Nam, Miniature legged robot driven by artificial muscle actuator, in Proc. Int. Conf. Ubiquitous Robots and Ambient Intelligence (URAI 2008), pp.569-574, 2008/11/20-2008/11/22 
  • • 박종길, Nguyen Huu Chun, Doan Vu Thuy, 김덕상, Nguyen Huu Lam Vuong, 구자춘, 최혁렬, 적층형 인공근육을 이용한 다관절의 로봇 손가락의 개발, 한국지능로봇 하계 종합 학술대회, pp.151-152, 2008/06/25-2008/06/27
  • • Doan Vu Thuy, Nguyen Huu Chuc, 박종길, 김덕상, Nguyen Huu Lam Vuong, 남재도, 구자춘, 최혁렬, 인공근육 구동기로 구동되는 소형로봇, 대한기계학회, pp.44-45, 2008/05/22-2008/05/23 
  • • Nguyen Huu Chuc, Doan Vu Thuy, Jonggil Park, Duksang Kim, Jachoon Koo, Youngkwan Lee, Jae-Do Nam and Hyouk Ryeol Choi, A dielectric elastomer actuator with self?sensing capability, in Proc. SPIE Smart Structures and Materials, Electroactive Polymer Actuators and Devices, vol.6927, pp.69270V1-8, 2008/03/09- 2008/03/13 
  • • Dong Ouk Kim, Min Hye Lee, Jun Ho Lee, Tae-Woo Lee, Kwang Jin Kim, Young Kwan Lee, Taesung Kim, Hyouk Ryeol Choi, Ja Choon Koo, Jae-Do Nam, Transparent flexible conductor of poly(methyl methacrylate)containing highly-dispersed multiwalled carbon nanotube, Organic electronics, vol.9, issue.1, pp.01-13, 2008/02 
  • • Misuk Cho, Hyunjoo Seo, Jedo Nam, Hyoukryeol Choi, Jachoon Koo, Youngkwan Lee, High ionic conductivity and mechanical strength of solid polymer electrolytes electrolytes based on NBR/ionic liquid and its application to an electrochemical actuator, Sensors and Actuators B: Chemical, vol.128, pp.70-74, 2007/12 
  • • Nguyen Huu Chuc, Jong Kil Park, Doan Vu Thuy, Hyun Seok Kim, Ja Choon Koo, Youngkwan Lee, Jae-do Nam, Hyouk Ryeol Choi, Multi-stacked Artificial Muscle Actuator Based on Synthetic Elastomer, in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp.771-776, 2007/10/29-2007/11/02 
  • • Kwangmok Jung, Kwang J. Kim, Hyouk Ryeol Choi, "A self-sensing dielectric elastomer actuator" Sensors and Actuators A: Physical, doi:10.1016/j.sna.2007.10.076, 2007/10
  • • Ja Choon Koo, Kwang Mok Jung, Jong Kil Park, Jae Do Nam, Young Kwan Lee, Jae Wook Jeon, and Hyouk Ryeol Choi "Representation of a Conceptual Design for a Rectilinear Motion Polymer Actuator" Int. Journal of Control, Automation, and Systems, Vol. 5, No. 4, pp. 429~435, 2007/8 
  • • Thuy Le Truong, Nguyen Dang Luong, Jae-Do Nam, Youngkwan Lee, Hyouk Ryeol Choi, Ja Choon Koo, Huu Nieu Nguyen, Poly(3,4-ethylenedioxythiophene) Vapor-Phase Polymerization on Glass Substrate for Enhanced Surface Smoothness and Electrical Conductivity, Macromolecular Research, vol.15, no.5, pp.465-468, 2007/08
  • • M. S. Cho, H. J. Seo, J. D. Nam, Y. Lee, H. R. Choi, J. C. Koo, Y. Son, "Characteristics of PEDOT/NBR/PEDOT Solid Actuator Depending on the NBR Polarity" Molecular Crystals and Liquid Crystals, pp. 289-296, 2007/8
  • • Kwangmok Jung, Ja Choon Koo, Jae-do Nam, Young Kwan Lee and Hyouk Ryeol Choi, "Artificial annelid robot driven by soft actuators" Bioinspiration and Biommetics, pp. S42-S49, 2007/6
  • • Hyunseok Kim, Jongkil Park, Nguyen Huu Chuc, H. R. Choi, J. D. Nam, Y. Lee, H. S. Jung, J. C. Koo, Development of Dielectric Elastomer Driven Micro Optical Zoom Lens System, in Proc. SPIE Smart Structures and Materials, Electroactive Polymer Actuators and Devices, vol.6524, pp.65241V1-10, 2007/03/18-2007/03/22
  • • Nguyen Huu Chuc, JongKil Park, Doan Vu Thuy, Hyun Seok Kim, Jachoon Koo, Youngkwan Lee, JaeDo Nam, Hyouk Ryeol Choi, Linear Artificial Muscle Actuator Based on Synthetic Elastomer, in Proc. SPIE Smart Structures and Materials, Electroactive Polymer Actuators and Devices, vol.6524, pp.65240J1-8, 2007/03/18-2007/03/22 
  • • M S Cho, H J Seo, J D Nam, H R Choi, J C Koo, and Y Lee, "An electroactive conducting polymer actuator based on NBR/RTIL solid polymer electrolyte" SMART MATERIALS AND STRUCTURES, Vol. 16, S237-S242, 2007/3 
  • • Kwangmok Jung, Joonho Lee, Misuk Cho, Ja Choon Koo, Jae-do Nam, Youngkwan Lee and Hyouk Ryeol Choi, "Development of enhanced synthetic elastomer for energy-efficient polymer actuators" SMART MATERIALS AND STRUCTURES, Vol. 16, S288-S294, 2007/3 
  • • M.S. Cho, H.J. Seo, J.D. Nam, H.R Choi, J.C. Koo, K.G. Song, Y. Lee, "A solid state actuator based on the PEDOT/NBR system" Sensors and Actuators B: Chemical, Vol. 119, issue 2, 2006/9 
  • • M. S. Cho, J. D. Nam, Y. Lee, H. R. Choi, J. C. Koo, "Dry Type conducting Polymer Actuator Based on Polypyrrole-NBR/lonic Liquid System" Molecular Crystals and Liquid Crystals, pp. 241-246, 2006/1 
  • • Jun Ho Lee, Jong Hoon Lee, Jae-Do Nam, Hyoukryeol Choi, Kwangmok Jung, Jae Wook Jeon, Young Kwan Lee, "Water uptake and migration effects of electroactive ion-exchange polymer metal composite (IPMC) actuator" Sensors and Actuators A: Physical, Vol. 118, pp. 98-106, 2005/1 
  • • 정민영, 정광목, 구자춘, 최혁렬, 남재도, 이영관, "대칭구동 원리에 의한 폴리머 액추에이터의 모델링" 제어 자동화 시스템공학 논문지, 제10권, 제11호, pp. 1000~1005, 2004/11
  • • 정광목, 류성무, 구익모, 전재욱, 구자춘, 남재도, 이영관, 최혁렬, "유전성 고분자를 이용한 생체 모방형 구동기" 제어 자동화 시스템공학 논문지, 제10권, 제12호, pp. 1271~1279, 2004/12 
  • • 오신종, 김훈모, 최혁렬, 전재욱, 남재도, "캡슐형 내시경 로봇의 IPMC 엑추에이터 모델링 및 퍼지 제어 알고리듬 개발에 대한 연구" 한국정밀공학회지, 제20권, 제4호, pp. 39~48, 2003/4 
  • • Kwangmok Jung, Hyoukryeol Choi, Jaedo Nam, "Investigations on Actuation Characteristics of IPMC Artificial Muscle Actuator" Sensors and Actuators A Physical, Vol. 107, pp. 183-192, 2003/1 
  • • J. D. Nam, H. R. Choi, Y. S. Tak, K. J. Kim, "Novel Electroactive, Silicate Nanocomposites Prepared to Be Used As Actuators and Artificial Muscles" Sensors and Actuators A Physical, Vol. 105, pp. 83-90, 2003/1 
  • • 이준호, 이두성, 김홍경, 이영관, 최혁렬, 김훈모, 전재욱, 탁용석, 남재도, "전기활성 IPMC 구동기 제조 및 구동특성 연구" 폴리머, 제26권, 제1호, pp. 105~112, 2002/1
  • • 황성덕, 이경섭, 이영관, 김홍경, 최혁렬, 김훈모, 전재욱, 남재도, "유전성 탄성체를 이용한 전기변형 고분자 구동체의 특성 연구" 폴리머, 제26권, 제1호, pp. 113~120, 2002/1 
  • • Tae-Geun Noh, Yongsug Tak, Jae-Do Nam, Hyoukryeol Choi, "Electrochemical Characterization of Polymer Actuator with Large Interfacial Area" Electrochimica Acta, Vol. 47, pp. 2341-2346, 2002/1 
  • • 박정태, 최혁렬, 김훈모, 전재욱, 남재도, 이두성, 김문선, 이영관, "Polypyrrole을 이용한 전기활성 구동기의 제조 및 특성" 폴리머, 제25권, 제6호, pp. 826~832, 2001/11
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Project


 

    • • 국방과학연구소
    • Electroactive 폴리머(EAP)를 이용한 구동장치 연구 (2017/11/1 ~ 2019/12/15)

  • • 한국 산업기술진흥원
    전기활성고분자를 이용한 초소형 인공근육구동기 및 힘/토크 센서의 개발 (2009/5/1 ~ 2014/4/30)
  • • 삼성전자
    인공근육용 전기활성 고분자 소재 응용기술 개발 (2011/2/1 ~ 2011/11/30)
  • • 산업자원부 
    신개념 액추에이터에 기반한 유연한 로봇손의 개발 (2006/4/1 ~ 2009/3/31)
  • • 과학기술부
    신개념 엑츄에이터 및 인공피부에 기반한 soft arm/hand의 학습진화형 manipulation 기술 (2004/4/1 ~ 2005/3/31)
  • • 지능형 마이크로 로봇 사업단 
    고분자 액츄에이터를 이용한 캡슐형 내시경 구동메카니즘(2002/7/1 ~ 2003/6/30 )
  • • 과학기술부 21세기 프론티어개발사업, 지능형마이크로 시스템개발사업단 
    고분자 액츄에이터를 이용한 캡슐형 내시경 구동메카니즘 기반기술 연구 (2000/5/1 ~ 2003/6/30)

 


Patent


• 로봇의 인공근육 구동기

출원번호/일자 : 1020150044007 (2015.3.30), 등록번호/일자 : 1017311630000 (2017.04.21)

• 단일체의 스택형 유전 탄성체 구동기 제조 방법 및 단일체의 스택형 유전 탄성체 구동기

출원번호/일자 : 1020160152498 (2016.11.16), 등록번호/일자 : 1017973980000 (2017.11.07)

  •  

Researcher


Nguyen Canh Toan,  Ho Sang Jung