Micro hydraulic system using slim artificial muscles for a wearable haptic glove

Dongseok Ryu, Kyung Won Moon, Hyungdo Nam, Yongkwun Lee, Changmook Chun, Sungchul Kang, Jea Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Citations (Scopus)

Abstract

Over the past few decades, various haptic gloves have been developed for use in virtual environments. The actuating systems for most existing haptic gloves require lots of external auxiliary equipment. Because of this, the motion of the user is restricted by the length of the electric wires or pneumatic tubes attached to this equipment. A compact actuation system, including related equipment, is thus indispensable for a wearable haptic glove to be truly effective. To resolve the problem of hampered motion and reach, a micro hydraulic actuating system was developed in this research. It was composed of a slim, flexible artificial muscle, a compact hydraulic module for actuating the muscle, and a micro pressure sensor for measuring without flux loss. The characteristics of the muscle were investigated for their control capacity. The step and sinusoidal responses were analyzed to evaluate the performance of the micro hydraulic system. Once these analyses were completed, a lightweight and compact actuation system was built incorporating a wearable haptic glove. By virtue of the developed micro hydraulic system, the wearable haptic glove was able to operate independently of any external equipment, and movement was completely free of any restrictions from wires or tubes.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages3028-3033
Number of pages6
DOIs
Publication statusPublished - 2008
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: 2008 Sep 222008 Sep 26

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Ryu, D., Moon, K. W., Nam, H., Lee, Y., Chun, C., Kang, S., & Song, J. B. (2008). Micro hydraulic system using slim artificial muscles for a wearable haptic glove. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 3028-3033). [4651159] (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4651159