Journal of the Korean Society of Clothing and Textiles (한국의류학회지)

The Korean Society of Clothing and Textiles (한국의류학회)
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A Study on the Controller Design of 3D Printed Robot Hand using TPU Material

TPU 소재를 이용한 3D 프린팅 로봇 손의 제어기 설계에 관한 연구

  • Young-Rim Choi (Softwave Innovation Center, Dong-A University) ;
  • Ye-Eun Park (Dept. of Fashion and Textiles, Dong-A University) ;
  • Jong-Wook Kim (Dept. of Elecrtical Engineering, Dong-A University) ;
  • Sunhee Lee (Dept. of Fashion Design, Dong-A University)
  • 최영림 (동아대학교 SW혁신센터) ;
  • 박예은 (동아대학교 의상섬유학과) ;
  • 김종욱 (동아대학교 전자공학과) ;
  • 이선희 (동아대학교 패션디자인학과)
  • Received : 2023.11.15
  • Accepted : 2023.12.04
  • Published : 2024.04.30
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Abstract

In this study, a rehabilitation 3D printed wearable device was developed by combining an assembly-type robot hand and an integral-type robot hand through fused deposition 3D printing manufacturing with various hardness TPU (Thermoplastic Polyurethane) filaments. The hardware configuration of the robot hand includes a controller designed with four motors, one small servo motor, and a circuit board. In the case of the assembly-type robot hand model, a 3D printed robot hand was assembled using samples printed with TPU of hardness 87A and 95A. It was observed that TPU with a hardness of 95A was suitable for use due to shape stability. For the integrated-type robot hand model, the external sample using TPU of hardness 95A could be modified through a cutting method, and the hardware configuration is the same as the assembly-type. The system structure of the 3D printed robot hand was improved from an individual control method to a simultaneous transmission method.Furthermore, the system architecture of an integrated 3D printed robotic hand rehabilitation device and the application of the rehabilitation device were developed.

Keywords

Acknowledgement

본 연구는 정부(과학기술정보통신부)의 재원으로 한국연구재단의 지원을 받아 수행됨 (No.NRF-2021R1A4A1022059).

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