Demonstration of a human-inspired stiffness-tunable soft gripper via split-brushing adhesion스플릿 브러싱 접합을 통한 강성 조절이 가능한 인체 모방 소프트 그리퍼 구현

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dc.contributor.advisorChang, Jae-Byum-
dc.contributor.advisor장재범-
dc.contributor.authorKoo, Hye Been-
dc.date.accessioned2023-06-23T19:32:19Z-
dc.date.available2023-06-23T19:32:19Z-
dc.date.issued2022-
dc.identifier.urihttp://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=1008306&flag=dissertationen_US
dc.identifier.urihttp://hdl.handle.net/10203/308990-
dc.description학위논문(석사) - 한국과학기술원 : 신소재공학과, 2022.8,[iii, 35 p. :]-
dc.description.abstractHumans, animals, and even insects interact with the environment via their grippers having various morphologies and functions. In contrast to other grippers found in nature, the functions of human hands are unique. Even when heavy objects are placed on them, their high stiffness prevents deformation. In addition, they are flexible, allowing the fingers of hands to bend easily to grab various objects. Various attempts have been undertaken in recent years to mimic the morphologies and functions of human hands using hydrogels. However, the majority of present hydrogel grippers are limited since they are readily deformed but their stiffness is insufficient for lifting heavy objects or supporting huge loads. These two features, high stiffness and ease of bending, are challenging to obtain with a single hydrogel system, as finger stiffness must be low for bending to be possible. In order to build this hydrogel gripper by integrating these three hydrogels, we present a unique hydrogel adhesion approach, which we refer to as split-brushing adhesion, which enables strong adherence between various hydrogels. The only trigger that can activate this hydrogel gripper is temperature. We demonstrate that the bending of the fingers of this gripper can be regulated by temperature and that the bent fingers are stiff, allowing them to grasp heavy things.-
dc.languageeng-
dc.publisher한국과학기술원-
dc.subject하이드로젤▼a접합▼a강성 조절▼a인체 모방 디자인▼a소프트 그리퍼-
dc.subjectHydrogel▼aAdhesion▼aStiffness-tunable▼aA human-inspired design▼aSoft gripper-
dc.titleDemonstration of a human-inspired stiffness-tunable soft gripper via split-brushing adhesion-
dc.title.alternative스플릿 브러싱 접합을 통한 강성 조절이 가능한 인체 모방 소프트 그리퍼 구현-
dc.typeThesis(Master)-
dc.identifier.CNRN325007-
dc.description.department한국과학기술원 :신소재공학과,-
dc.contributor.alternativeauthor구혜빈-
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MS-Theses_Master(석사논문)
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