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  <doc>
    <id>4825</id>
    <completedYear/>
    <publishedYear>2014</publishedYear>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst>803</pageFirst>
    <pageLast>808</pageLast>
    <pageNumber/>
    <edition/>
    <issue/>
    <volume/>
    <type>conferenceobject</type>
    <publisherName>IEEE</publisherName>
    <publisherPlace/>
    <creatingCorporation/>
    <contributingCorporation/>
    <belongsToBibliography>0</belongsToBibliography>
    <completedDate>--</completedDate>
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    <title language="eng">Dielectric elastomer actuators - On the way to new actuation-systems driving future assistive, compliant and safe robots and prostheses</title>
    <abstract language="eng">For almost 20 years, dielectric elastomer actuators (DEAs) have been the subject of intense research in material science. A large number of publications describe artificial muscles based on DEAs as a promising alternative for an energy efficient, lightweight and flexible actuation architecture. DEAs could improve and extend the capabilities of robotic and prosthetic devices in terms of their dynamical performance and their eligibility for energy autarkic operation. However, up to now DEAs are not available on a large scale with reproducible characteristics nor are they yet usable on a system integration level. In this paper we present recent findings of our ongoing five-year project to qualify DEAs as feasible artificial muscles for usage in compliant robot kinematics and soft prosthetic devices. The focus of this contribution lies on a new automated production process using Aerosol Jet Printing for stacked DEAs with very thin layers for reduced driving voltages and improved mechanical characteristics resulting from the additive manufacturing. Secondly, a new set of lightweight power electronics based on pulse width modulation (PWM) is presented which aims at the improvement of the overall specific power of DEA driven kinematic systems.</abstract>
    <parentTitle language="eng">5th IEEE RAS &amp; EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Sao Paolo</parentTitle>
    <identifier type="doi">10.1109/BIOROB.2014.6913877</identifier>
    <enrichment key="opus.doi.autoCreate">false</enrichment>
    <enrichment key="opus.urn.autoCreate">true</enrichment>
    <author>Sebastian Reitelshöfer</author>
    <author>M. Landgraf</author>
    <author>I. S. Yoo</author>
    <author>J. Hörber</author>
    <author>C. Ramer</author>
    <author>Christian Ziegler</author>
    <author>J. Franke</author>
  </doc>
  <doc>
    <id>4827</id>
    <completedYear/>
    <publishedYear>2014</publishedYear>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst>711</pageFirst>
    <pageLast>717</pageLast>
    <pageNumber/>
    <edition/>
    <issue>6</issue>
    <volume/>
    <type>article</type>
    <publisherName/>
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    <contributingCorporation/>
    <belongsToBibliography>0</belongsToBibliography>
    <completedDate>--</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>--</thesisDateAccepted>
    <title language="eng">My new colleague has artificial muscles: A DEA based approach for inherently compliant robotic systems</title>
    <abstract language="eng">When robots and human workers team up, safety should be ensured at all times. In order to improve safety of human–robot collaboration in hybrid manufacturing processes, many different types of compliant robotic drives, serial elastic actuators for instance, have been developed to date. However, most of them still consist of rigid mechanical components in combination with prevailing servo motor and thus bring several disadvantages such as poor power-to-weight ratio. This paper presents our solution approach for realization of biomimetic, inherently compliant artificial muscles based on dielectric elastomer actuators (DEAs). The artificial muscles based on DEAs distinguish themselves from conventional actuators through their favorable characteristics. They (a) work noiseless, (b) feature specific energy density comparable to human skeletal muscles and (c) are capable of storing or even recovering energy, and finally, (d) can adjust their geometry to meet with undefined and unstructured objects or environments. With remaining challenges overcome, the DEAs are expected to provide a significant contribution to safety of industrial robots collaborating with human workers.</abstract>
    <parentTitle language="eng">Production Engineering Research and Development</parentTitle>
    <identifier type="doi">10.1007/s11740-014-0564-9</identifier>
    <enrichment key="opus.doi.autoCreate">false</enrichment>
    <enrichment key="opus.urn.autoCreate">true</enrichment>
    <author>I. S. Yoo</author>
    <author>M. Landgraf</author>
    <author>C. Ramer</author>
    <author>Sebastian Reitelshöfer</author>
    <author>Christian Ziegler</author>
    <author>Jörg Franke</author>
  </doc>
</export-example>
