 Background of research  Research objectives Development of the artificial muscle module using dielectric elastomer. Development of embedded controller and actuator driving circuit. Prototype 12 DOF robot hand using artificial muscle  Degree of Freedom : 12DOF(4 finger), fingertip pay load : 500gf Problems  Inherent rigidity and structural complexity in existing actuator  Complex energy transfer mechanism  High manufacturing costs Approach  The stiffness controllable actuator by material property itself.  High energy transfer efficiency and characteristics similar to human muscle.  The simple actuation mechanism and applicable operational bandwidth Development of Dexterous Robot Hand Based on ElectroActive Polymer Actuator (4-5) Artificial muscle actuator

Linear artificial muscle with high power density based on dielectric elastomer Micro artificial muscle for micro camera actuation module Electromechanical model and simulation Prototype of 12DOF robot hand using artificial muscle  Research contents Camera module Robot hand using Artificial muscle Development of Dexterous Robot Hand Based on ElectroActive Polymer Actuator (4-5)

Hyouk Ryeol Choi Professor, School of Mechanical Engingeering Sungkyunkwan University Collaboration : Samsung ElectroMechanics. Co Researchers : 18(Univ. 17, Industry 2) Project Leader