Title

Application of Mechanoluminescent ZnS:Cu Microparticle-Embedded Polydimethylsiloxane for Soft Robots

Alternative Title

소프트 로봇을 위한 기계발광 ZnS:Cu 미세입자 함유 폴리디메틸실록산의 응용

DGIST Authors

Lee Min Seok ; Soon Moon Jeong

Advisor

정순문

Issued Date

2026

Awarded Date

2026-08-01

Type

Thesis

Description

Mechanoluminescence, Soft robot, ML fiber, Auxetic pattern, Self-sensing

Table Of Contents

List of Contents
Abstract i
List of contents ii
List of figures iv

Ⅰ. Introduction
1.1 Mechanoluminescence-based Structural Sensing in Soft Robots 1
1.2 Theoretical Background 4
1.2.1 ZnS:Cu–PDMS ML:First Report and Distinction from Conven
tional ML 4
1.2.2 ML mechanism in ZnS:Cu-PDMS Composites 5
1.2.3 Poisson ratio and deformation characteristics of Auxetic structures
8
1.3 Research Trend 10
1.3.1 Research Trend of ZnS:Cu-PDMS based ML 10
1.3.2 Research Trend of Soft Robots 12

Ⅱ. Materials and Methods
2.1 Fabrication method of Soft robot 14
2.2 Fabrication of various ML film patterns 19
2.3 Patterning process of the ML film 21
2.4 Manufacturing process of ML fibers 23

Ⅲ. Results & Discussions
3.1 Dynamic movement of the Soft robot 25
3.1.1 Two key elements governing Soft robot behavior 25
3.1.2 Step-by-Step Locomotion mechanism of the Soft robot under se-
quential pneumatic actuation 28

3.2 Deformation behavior of the ML auxetic pattern 31
3.2.1 Comparison of mechanical properties for different structural patterns 31
3.2.2 Pneumatic soft robot integrated with auxetic pattern 36
3.3 Implementation of ML fibers 39
3.3.1 Analysis of ZnS:Cu-PDMS ML fiber 39
3.3.2 Characteristics of ML fibers 43
3.3.3 Effect of ML fiber thickness on pneumatic soft robot deformation
50
3.4 Actuation of a soft robot integrated with ML fibers 56
3.4.1 Soft robot actuation integrated with ML fibers 56

Ⅳ. Conclusion 59

Reference 61

Summary 67

URI

https://scholar.dgist.ac.kr/handle/20.500.11750/60821
http://dgist.dcollection.net/common/orgView/200001006685

DOI

10.22677/THESIS.200001006685

Degree

Master

Department

Interdisciplinary Engineering Major

Publisher

DGIST

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