Multimodal perception for intelligent origami robotic systems based on embedded strain sensors and deformation analysis
- 주제(키워드) Robotic perception , Origami , Origami robot , crack-based strain sensor , Deformation analysis
- 주제(DDC) 621.8
- 발행기관 아주대학교 일반대학원
- 지도교수 Daeshik Kang
- 발행년도 2025
- 학위수여년월 2025. 8
- 학위명 박사
- 학과 및 전공 일반대학원 기계공학과
- 실제URI http://www.dcollection.net/handler/ajou/000000035238
- 본문언어 영어
- 저작권 아주대학교 논문은 저작권에 의해 보호받습니다.
목차
CHAPTER Ⅰ. INTRODUCTION 1
CHAPTER Ⅱ. RESULTS 7
Ⅱ. 1. Development of nano crack mechanoreceptor. 7
Ⅱ. 1. 1 Electrical characterization of nano cracks 8
Ⅱ. 1. 2 Pre-strain strategy for enhanced bidirectional sensitivity 11
Ⅱ. 1. 3 Performance evaluation of the nano crack receptor 16
Ⅱ. 1. 4 Demonstration of deformation sensing in origami structures 26
Ⅱ. 2. Multimodal perceptions of origami robotics arm 30
Ⅱ. 2. 1 Fabrication and operation of robotic arm 32
Ⅱ. 2. 2 Deformation analysis on robotic arm 36
Ⅱ. 2. 3 Demonstration of methodology through task excuetion 49
Ⅱ. 3. Application: transformable origami gripper 58
Ⅱ. 3. 1 Fabrication and mechanism of the gripper 60
Ⅱ. 3. 2 Demonstration under minimally invasive surgical scenarios 65
CHAPTER Ⅲ. DISCUSSION 73
REFERENCES 76
