[2PS-087]
Human-Like Robotic Finger Coordination Enabled by Ion-Gel-Based Parallel Synaptic Signal Multiplexing
발표자김수현 (연세대학교)
연구책임자조정호 (연세대학교)
Abstract
This study presents a neuromorphic robotic control system based on an ion-gel-based parallel-processable synaptic array (PPSA) that enables human-like coordinated motion of robotic fingers with reduced control complexity. By exploiting distance-dependent ionic transport in a shared ion-gel dielectric, multiple synaptic transistors are spatially multiplexed and controlled simultaneously using a single input signal. The resulting analog synaptic outputs inherently encode different signal delays and amplitudes, allowing direct and continuous control of multiple actuators without the need for digital-to-analog converters. Integrated with a robotic hand, the proposed system demonstrates coordinated finger actuation and stable grasping of complex-shaped objects. This approach offers an efficient alternative to conventional CMOS-based robotic control architectures and provides a promising platform for neuromorphic and bio-inspired robotic systems.