Under-actuated Tendon-driven Mechanism for the Simple and Competent Robots
Speaker
Byungchul Kim
Seoul National University
Host
Daniela Rus
CSAIL MIT
Zoom Link: https://mit.zoom.us/j/98903164442
Abstract:
In this seminar, I will present my robot research about the under-actuated tendon-driven mechanism that can simplify the robot system without losing the robot's functionality. A soft hand wearable robot named Exo-Glove Shell will be shown with a focus on its ability to make human hand motions even with a small number of actuators. I will then address a compact tendon-driven linear actuator, called Slider-Tendon Linear Actuator, that can pull the tendon reliably. In the later part of my presentation, I will address practical problems that can arise in tendon transmission and their solutions.
Short Bio:
Byungchul Kim is a post-doctoral researcher in Soft Robotics Research Center (SRRC) at the Seoul National University (SNU) working with Prof. Kyu-Jin Cho. Before joining SRRC, He received a Ph.D. in mechanical engineering at SNU in 2020 under the guidance of Prof. Kyu-jin Cho. His broad research interests are in soft wearable robots, with a focus on tendon-driven actuators, under-actuated tendon-driven mechanisms, grasping/manipulation, human pose estimation, and fabrication of soft robots.
Abstract:
In this seminar, I will present my robot research about the under-actuated tendon-driven mechanism that can simplify the robot system without losing the robot's functionality. A soft hand wearable robot named Exo-Glove Shell will be shown with a focus on its ability to make human hand motions even with a small number of actuators. I will then address a compact tendon-driven linear actuator, called Slider-Tendon Linear Actuator, that can pull the tendon reliably. In the later part of my presentation, I will address practical problems that can arise in tendon transmission and their solutions.
Short Bio:
Byungchul Kim is a post-doctoral researcher in Soft Robotics Research Center (SRRC) at the Seoul National University (SNU) working with Prof. Kyu-Jin Cho. Before joining SRRC, He received a Ph.D. in mechanical engineering at SNU in 2020 under the guidance of Prof. Kyu-jin Cho. His broad research interests are in soft wearable robots, with a focus on tendon-driven actuators, under-actuated tendon-driven mechanisms, grasping/manipulation, human pose estimation, and fabrication of soft robots.