Kim, Sohyun Cha, Youngsu 2024-01-19T17:04:05Z 2024-01-19T17:04:05Z 2021-09-05 2020-07 2377-3766 https://pubs.kist.re.kr/handle/201004/118435 Soft robotics require unique and novel actuators for various applications. Therefore, a novel soft electro-hydraulic actuator is proposed and its ability to manipulate a spherical object on an active plate is demonstrated. The proposed actuator has two actuation parts with asymmetric electrodes. Two types of deformations are created by applying voltages to the asymmetric electrodes of the actuator. By using various deformations from four electro-hydraulic actuators, an active plate is realized. The active plate can exhibit eight different inclinations that, allow a ball to be stopped in a desired target location. The results demonstrate that the ball's movement in a circular path may be maintained using active plate. Further, the ball can stop at the desired target points. English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC DIELECTRIC ELASTOMERS SOFT ROBOTICS Rotary Motion and Manipulation Using Electro-Hydraulic Actuator With Asymmetric Electrodes Article 10.1109/LRA.2020.2983693 1 IEEE ROBOTICS AND AUTOMATION LETTERS, v.5, no.3, pp.3945 - 3951 IEEE ROBOTICS AND AUTOMATION LETTERS 5 3 3945 3951 scie scopus 000528927200001 2-s2.0-85084123844 Robotics Robotics Article DIELECTRIC ELASTOMERS SOFT ROBOTICS Motion control soft sensors and actuators hydraulic pneumatic actuators