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Development of Human Finger Model using Wire Type SMA Actuator
Jin Woo Jung(정진우),Soo-Cheol Lim(임수철),Young-Pil Park(박영필),Hyun-Seok Yang(양현석),No-Cheol Park(박노철) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.11
During the past decades, many human finger models have been researched to imitate human hand. Such models are usually driven by electromagnetic motors. However, the electromagnetic actuation of the finger is not appropriated to obtain the smaller and lighter finger model because of the gear reducers and motors. Consequently, the main object of this work is to develop a finger model driven by shape memory alloy (SMA) wires. The proposed finger model has three joints and each joint is actuated by SMA wires in the antagonistic manner. The dimensional properties of the SMA wires are designed by considering the required actuating force and response time. The rotary sensors are used to measure the angle positions of the joints and the PWM control scheme using PID algorithm is used in order to achieve the desired angle positions of the joints. After manufacturing the proposed finger model, the motion control of the finger model is experimentally evaluated in the time domain.
김재근(Kim, Jae-Geun),박경수(Park, Kyoung-Soo),박노철(Park, No-Cheol),박영필(Park, Young-Pil),이택주(Lee, Taek-Joo),임수철(Lim, Soo-Cheol),엄원석(Ohm, Won-Suk) 한국소음진동공학회 2011 한국소음진동공학회 논문집 Vol.21 No.3
In this paper, we report a high-precision wireless gap sensor based on a surface acoustic wave (SAW) device. The sensing element is a parallel-plate capacitor whose dimensions are $3{\times}3\;mm^2$, and is attached to the SAW device as an external load. The SAW device, equipped with an RF antenna, serves simultaneously as a signal conditioner and an RF transponder. The center frequency of the SAW device is 450 MHz. The wireless gap sensor prototype exhibits a resolution of 100 nm and a sensing range of $50{\mu}m$. The proposed sensor system can be used for remote, high-precision gap measurement in hard-to-reach environments.