초록 ▼

• 본 연구는 동역학적 정밀제어가 가능한 의료용 소프트 액추에이터 시스템을 개발하기 위해 방사선 기술을 이용하여 자극 반응성과 물리적 특성이 우수한 합성고분자로 이루어진 3차원 가교구조의 하이드로겔 소프트 엑추에이터를 개발하고자 하였다.
• 온도 및 전기자극 등에 반응하는 고분자 하이드로겔 소프트 액추에이터를 제조하여 이의 물리화학적 성질을 최적화하였다.
• 소프트 액추에이터의 동역학적 특성을 확인하고 구동특성 미세제어기술 확립하였으며, 웨어러블 스마트 기기에 적용할 수 있는 생체적합성 특성분석 및 구동특성 최적화하여 웨

• 본 연구는 동역학적 정밀제어가 가능한 의료용 소프트 액추에이터 시스템을 개발하기 위해 방사선 기술을 이용하여 자극 반응성과 물리적 특성이 우수한 합성고분자로 이루어진 3차원 가교구조의 하이드로겔 소프트 엑추에이터를 개발하고자 하였다.
• 온도 및 전기자극 등에 반응하는 고분자 하이드로겔 소프트 액추에이터를 제조하여 이의 물리화학적 성질을 최적화하였다.
• 소프트 액추에이터의 동역학적 특성을 확인하고 구동특성 미세제어기술 확립하였으며, 웨어러블 스마트 기기에 적용할 수 있는 생체적합성 특성분석 및 구동특성 최적화하여 웨어러블 스마트기기 응용을 위한 소프트 액츄에이터 시스템으로써의 유용성을 평가하였다.
• 본 연구개발을 통하여 방사선융합기술을 이용한 생체적합성 및 동역학적 정밀제어특성이 우수한 의료용 하이드로겔 소프트 액추에이터 시스템의 제조 기술을 확보할 수 있을 뿐만 아니라 의료 기기, 바이오 모방 로봇, 바이오센서, 웨어러블 스마트 기기관련 연구에 도움이 되리라 기대된다.

(출처 : 보고서 요약서 3p)

Abstract ▼

■ Research Goal : The objective of this study is the development of soft actuator with precise controllable dynamics by using radiation technique. We focused on the preparation and characterization of hydrogel soft actuator with three dimensional crosslinked network structure. we will evaluate the f

■ Research Goal : The objective of this study is the development of soft actuator with precise controllable dynamics by using radiation technique. We focused on the preparation and characterization of hydrogel soft actuator with three dimensional crosslinked network structure. we will evaluate the feasibility as an effective temperature-response or electro-active hydrogel soft actuator system for wearable smart device applications,

■ Research Contents :
1) First year (2017.09-2018.02)
1-1. Development of thermo-responsive soft actuators using radiation convergence technology
• Hydrogel with a three-dimensional crosslinked structure consisting of poly(N-isoproyl acrylamide) (NIPAAm) and poly(acrylic acid) (PAAc) were prepared.
• The water content of hydrogels was regulated by controlling the composition ratio and crosslinking density within the soft actuator.
• Hydrogel actuators with various crosslinking density and mechanical strength were fabricated by controlling the irradiation dose.
1-2 Manufacturing of soft Actuators with bilayer structure and optimizing manufacturing conditions
• Hydrogel actuators with stacked structure consisting of a poly (acrylamide) layer that is not sensitive to temperature stimuli and a temperature-sensitive NIPAAm-PAAc hydrogel were prepared. 　
• The irradiation conditions were optimized by adjusting the irradiation dose(5~50 KGy) and dose rate, such as gamma rays.
• Driving properties of hydrogel actuators were maximized by adjusting the thickness ratio of active layer and passive layer in a stacked structure.
1-3. Characterization of thermo-responsive hydrogel soft actuators
• The gel fraction of hydrogel was determined according to the irradiation dose and the content of crosslinking agent.
• Water content and swelling kinetics of hydrogel soft actuators were investigated.
• The mechanical strength of hydrogel were determined as a function of irradiation dose and the content of crosslinking agent.
• In vitro cytotoxicity study was performed to investigate the biocompatibility of hydrogel soft actuator.
1-4. Evaluation of driving properties of thermo-responsive hydrogel actuators
• The bending behaviors of hydrogel soft actuators were evaluated by controlling gamma ray irradiation dose and hydrogel composition.
• The driving properties of hydrogel soft actuators with bilayer structure depending on the thickness change and composition ratio were investigated.

2) Second year (2018.03-2019.02)
2-1. Manufacture of electro-stimulus sensitive hydrogel with a three-dimensional crosslinking structure
• Electro-active polymers, which are induced to deform through external electrical energy, can be divided into electronic EAPs, which are activated by electric fields, and ionic EAPs, which are activated by ionic movement within the polymer matrix. In this study, the soft actuators driven by ion movement within the polymer matrix were developed.
• Hydrogel soft actuators with ionic groups were prepared by forming a three-dimensional network structures using radiation fusion technology.
• The water content, electro activity and mechanical properties of hydrogel were controlled by adjusting the composition ratio of ionization groups and crosslinking density within the polymer matrix.
2-2. Characterization of electro-active hydrogel soft actuators
• The gel fraction of electro-active hydrogel was determined according to the irradiation dose and the content of crosslinking agent.
• Water content and swelling kinetics of electro-active hydrogel soft actuators were investigated.
• The mechanical strength of electro-active hydrogel were determined as a function of irradiation dose and the content of crosslinking agent.
• In vitro cytotoxicity study was performed to investigate the biocompatibility of electro-active hydrogel soft actuator.
2-3. Evaluation of driving properties of hydrogel actuators by electric stimulation
• The bending behaviors of electro-active hydrogel soft actuators were evaluated by controlling gamma ray irradiation dose and hydrogel composition.
• The driving properties of hydrogel soft actuators depending on the electric field intensity, ionic group content, and crosslinking density were investigated.

3) Third year (2019.03-2020.02)
3-1. Preparation of electrically stimulated sensitive hydrogel and characterization of their physiochemical properties
• The synthetic method of electro-active hydrogel soft actuator was optimized.
• The physical and chemical properties of hydrogel were controlled by composition ratio and crosslinking density
3-2. Analysis of bending behaviors of electro-active hydrogel soft actuator
• The bending characteristics of hydrogel by electric stimulus were characterized.
• The driving properties of hydrogel soft actuators depending on the voltage, crosslinking density, and contents of ionic group in hydrogel were investigated.
3-3. Simulation of single electric field and two-dimensional space electric field model
• Simulation based on the poisson equation was performed to verify that re-arrangement of ions by electric field distribution affects swell-deswell machinations of hydrogel.
• Driving conditions of hydrogel actuator in electric field were optimized.
3-4. Simulation of a 2D space electric field model under horizontal/vertical electrodes
• Electric field models in two-dimensional space according to horizontal/vertical electrode spacing and electrode size were simulated to obtain optimal driving conditions for electro-active hydrogel.
3-5. Analysis of dynamic properties of electro-active hydrogel actuators
• The negative/positional curvature bending mechanics of hydrogel were analyzed.
• The bending characteristics of hydrogel according to voltage, electrolyte concentration and electrode cycles were investigated.
• The stability depending on continuous operation of hydrogel actuators was evaluated
3-6. Evaluating the characteristics of multi-strain implementation by space electric field control
• The multiple deformation characteristics of hydrogel actuators under electric field were analyzed.
• Deformation of hydrogel by sequential electric field control were investigated.

■ Expected Research Outputs :
• Soft robotics deals with robots that utilize flexible and soft materials rather than rigid-based robots that we normally encounter. This necessitates different technologies from the design, manufacture, and control methods used in conventional robotics. To this end, ductile mechanisms, SDM manufacturing processes, new types of actuators and sensors, and neural network algorithms have been developed, and a variety of other technologies are being developed.
• Soft robotics will contribute to the development of new mechanisms and robots that enhance adaptability and stability to the external environment compared to existing rigid-based robots by utilizing the properties of soft materials.
• The areas where soft robots can be used include industries, agriculture, floriculture, food industry, medical and rehabilitation, personal aids, underwater exploration, military and entertainment, etc. However, there are many issues that need to be addressed with soft robotics, including material development, continuum modeling and control, and improved drive efficiency, for practical use.
• Especially for wearable smart devices, which are receiving a lot of attention recently, it can be classified into accessories such as products and accessories that are carried around, clothing that are attached to the skin, such as patches, and body attachment/biodegradation types that are directly implanted or taken to the body, and it is predicted that they will gradually develop into simple and practical forms with technological evolution.
• Biocompatible hydrogel soft actuators in this research project are one of the core technologies of wearable smart devices with the form of body attachment/injection directly to the body. Therefore, it is expected to be able to be used as a source material technology that can detect and operate signals for various stimuli.

(출처 : SUMMARY 12p)

목차 Contents

• 표지 ... 1
• 제출문 ... 2
• 보고서 요약서 ... 3
• 요약문 ... 4
• SUMMARY ... 12
• CONTENTS ... 16
• 목차 ... 17
• 제1장 연구개발과제의 개요 ... 18
• 1절 연구개발의 필요성 ... 18
• 2절 연구개발의 목적 ... 23
• 3절 연구개발의 범위 ... 24
• 제2장 국내외 기술개발 현황 ... 27
• 1절 국내 연구동향 및 기술개발 현황 ... 27
• 2절 국외 연구동향 및 기술개발 현황 ... 29
• 제3장 연구개발수행 내용 및 결과 ... 34
• 1절 1차년도 연구개발 내용 및 결과 ... 34
• 1-1. 연구개발 내용 ... 34
• 1-2. 연구개발 결과 ... 37
• 2절 2차년도 연구개발 내용 및 결과 ... 43
• 2-1. 연구개발 내용 ... 43
• 2-2. 연구개발 결과 ... 46
• 3절 3차년도 연구개발 내용 및 결과 ... 57
• 3-1. 연구개발 내용 ... 57
• 3-2. 연구개발 결과 ... 59
• 제4장 목표달성도 및 관련분야에의 기여도 ... 82
• 1절 연구개발목표의 달성도 ... 82
• 제5장 연구개발결과의 활용계획 ... 85
• 1절 연구계발 결과의 기대효과 및 활용계획 ... 85
• 2절 타 연구에의 응용가능성 ... 86
• 3절 추가연구의 필요성 ... 86
• 제6장 연구개발과정에서 수집한 해외과학기술정보 ... 88
• 제7장 연구장비의 구축 및 활용 결과 ... 88
• 제8장 참고문헌 ... 89
• 끝페이지 ... 92