지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2024.4
- 수록면
- 428 - 437 (10page)
- DOI
- 10.5302/J.ICROS.2024.24.0021
이용수
초록· 키워드
오류제보하기
Microscale soft actuators can be used in medical catheters and guidewires for active steering, which can reduce the procedure time and the risk of infection in vascular interventions. Pressure-driven soft actuators have a simpler structure than other mechanisms because they have a single asymmetric shape and can be made of a single material. Pressure-driven soft actuators are, therefore, suitable for microscale miniaturization, and considerable research on applying pressure-driven soft actuators to medical micro-guidewires has been conducted. Closed and open molding have been proposed as methods for fabricating pressure-driven soft actuators. However, it is difficult to control the diameter and the degree of asymmetry of the produced actuators due to the effect of microbubbles and surface tension during the manufacturing process. This paper proposes a novel fabrication method to control the degree of asymmetry using the magnetic field and dip coating the magnetorheological elastomer. The diameter is controlled by adjusting the precuring time of MR-elastomer and the travel speed of the inner mold during manufacturing. The degree of asymmetry is controlled independently by controlling the current of the electromagnet. The manufacturing process and the parameters are modeled to control the outer diameter and the eccentricity of the resulting actuators. The manufacturing parameters are experimentally controlled to ensure consistency in the fabrication of the actuators. Specifically, the manufacturing system is controlled to produce actuators with a diameter of 0.7 mm and an eccentricity of 80 μm with errors of 1.7% and 3.75%, respectively. The fabricated microscale pressure-driven actuators can bend sharply up to 115° for a length of 5.41 mm.
목차
Abstract
I. 서론
II. 선행연구
III. 제작 공정
IV. 공정 매개변수 결정을 위한 해석
V. 제작 결과
VI. 결론
REFERENCES
참고문헌 (23)
참고문헌 신청
J. Koo, J. Hahm, J.-B. Han, and D.-G. Gwak, “Actuator characteristics of a soft wearable suit using a pneumatic chamber,” Journal of Institute of Control Robotics and Systems (in Korean), vol. 26, no. 9, pp. 784–791, 2020.
H. Choi, H. Lee, G. Go, J.-O. Park, and S. Park, “Electromagnetically actuated soft hydrogel microrobots for biomedical applications,” Journal of Institute of Control Robotics and Systems (in Korean), vol. 25, no. 2, pp. 156–162, 2019.
S. Lim, S. Zheng, K. T. Nguyen, B. Kang, E. Choi, T. Lee, J. Kim, J.-O. Park, and D. Bang, “Functional materials for micro-scale soft robotics,” Proc. of 2023 38th ICROS Annual Conference (in Korean), pp. 132-133. 2023.
S. Jeong, Y. Chitalia, and J. P. Desai, “Design, modeling, and control of a coaxially aligned steerable (COAST) guidewire robot,” IEEE Robotics and Automation Letters, vol. 5, no. 3, pp. 4947-4954, 2020.
A. Sarma, G. C. Collins, N. Nayar, Y. Chitalia, S. Jeong, B. D. Lindsey, and J. P. Desai, “Towards the development of an ultrasound-guided robotically steerable guidewire,” 2020 International Symposium on Medical Robotics (ISMR), pp. 173–180, 2020.
H. Choi, H. Lee, G. Go, J.-O. Park, and S. Park, “Electromagnetically actuated soft hydrogel microrobots for biomedical applications,” Journal of Institute of Control Robotics and Systems (in Korean), vol. 25, no. 2, pp. 156–162, 2019.
S. Lim, S. Zheng, K. T. Nguyen, B. Kang, E. Choi, T. Lee, J. Kim, J.-O. Park, and D. Bang, “Functional materials for micro-scale soft robotics,” Proc. of 2023 38th ICROS Annual Conference (in Korean), pp. 132-133. 2023.
S. Jeong, Y. Chitalia, and J. P. Desai, “Design, modeling, and control of a coaxially aligned steerable (COAST) guidewire robot,” IEEE Robotics and Automation Letters, vol. 5, no. 3, pp. 4947-4954, 2020.
A. Sarma, G. C. Collins, N. Nayar, Y. Chitalia, S. Jeong, B. D. Lindsey, and J. P. Desai, “Towards the development of an ultrasound-guided robotically steerable guidewire,” 2020 International Symposium on Medical Robotics (ISMR), pp. 173–180, 2020.
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