Teleoperation of ionic electroactive polymer actuators with real-time fingertip haptic feedback
발표자
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초록
내용
Extensive research has been conducted on ionic electroactive polymers (iEAPs) actuators to their application in soft robotics. However, practical challenges persist in actuation speed, mechanical strength, and motion control. To address these issues, in this study, a haptic interface system was developed using sensor-integrated iEAP actuators to enable the teleoperation of soft grippers. The electrolyte layer consisted of bifunctional polymer electrolytes with fast ion transport properties with strain sensors on its surface. By synchronizing the resistance change of grippers with the angle of fingers wearing a sensing glove, users can control the gripper through the glove. Furthermore, the physical contact between the gripper and the object was estimated by the resistance change of the gripper. This information was transmitted as haptic feedback to the user’s fingertip. With a haptic feedback system driven by small batteries, it opens up possibilities for various biomimetic devices.