A novel fabrication of ionic polymer–metal composite membrane actuator capable of 3-dimensional kinematic motions

Chen, Zheng; Um, Tae I.; Bart‐Smith, Hilary

doi:10.1016/j.sna.2011.02.034

Cited by 128 publications

(93 citation statements)

References 16 publications

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“…Therefore, IPMC based artificial muscle finger is activated using EMG and it allows holding an object for micro assembly operation. (Chen et al, 2011) During development of an EMG driven IPMC based artificial muscle finger, a typical IPMC strip (Procured custom made from Environmental Robots Inc., USA) is used which has a thin (approximately 200 μm) perfluorinated ion exchange base polymer membrane (Nafion-117) with metal electrodes of platinum (5-10 μm) fused on either side. As a part of the manufacturing process, this base polymer is further chemically coated with metal ions that comprise the metallic composites.…”

Section: Basic Design Of Ipmc Artificial Muscle Finger Based Micro Grmentioning

confidence: 99%

“…When the material is hydrated, the cations will diffuse toward an electrode on the material surface under an applied electric Plastic based finger Holder Object field. Inside the polymer structure, anions are interconnected as clusters providing channels for the cations to flow towards the electrode (Chen et al, 2011). This motion of ions causes the structure to bend toward the anode as shown in Fig.…”

Section: Basic Design Of Ipmc Artificial Muscle Finger Based Micro Grmentioning

confidence: 99%

See 1 more Smart Citation

Design and Control of an EMG Driven IPMC Based Artificial Muscle Finger

Jain¹,

Datta²,

Majumder³

2012

Computational Intelligence in Electromyography Analysis - A Perspective on Current Applications and Future Challenges

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Section: Basic Design Of Ipmc Artificial Muscle Finger Based Micro Grmentioning

confidence: 99%

Section: Basic Design Of Ipmc Artificial Muscle Finger Based Micro Grmentioning

confidence: 99%

Design and Control of an EMG Driven IPMC Based Artificial Muscle Finger

Jain¹,

Datta²,

Majumder³

2012

Computational Intelligence in Electromyography Analysis - A Perspective on Current Applications and Future Challenges

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“…Another biomimetic jellyfish robot was developed using IPMC actuators to implement jet propulsion (Yeom and Oh 2009). A lamprey-based undulatory vehicle (Wilbur et al 2002), a free-swimming robotic batoid ray based on IPMC actuators (Chen et al 2011), and a miniature fish-like robotic swimmer induced by propulsion generated by tail vibrations (Aureli et al 2010) were presented. More recently, a swimming robotic fish was demonstrated that was developed with electromagnetic actuation system and 3D printing (Phamduy et al 2017).…”

Section: Introductionmentioning

confidence: 99%

Twisted and coiled polymer (TCP) muscles embedded in silicone elastomer for use in soft robot

Almubarak

Tadesse

2017

Int J Intell Robot Appl

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Researchers are seeking to create robots that could conform to non-uniform objects during handling and manipulation. High performance artificial muscles are the key factors that determine the capabilities of a robot. Twisted and coiled polymeric (TCP) muscle embedded in soft silicone skin solves some of the problems of soft robots in attaining morphed structure using low voltages, contrary to other technologies such as dielectric elastomer and piezoelectric. Furthermore, the TCP actuation system does not generate noise like pneumatic systems. The TCP embedded skin shows great promise for robotics to mimic the flexible appendages of certain animals. In this paper, we present experimental results on the effect of muscle placement and the thickness of the artificial skin on the actuation behavior, which can be used as a benchmark for modeling. We demonstrate the effect of three different skin thicknesses and three different muscle locations within the skin, by taking experimental deformation data from stereo camera. In general, two modes of actuations (undulatory and bending) were observed depending on the muscle placement, skin thickness, applied voltage, and actuation time. The thinner skin showed two-wave undulatory actuation in most cases, whereas the 4 mm skins showed mixed actuation and the 5 mm skins exhibited one-wave undulatory actuation. In all cases, the increase in voltage resulted in higher magnitudes of actuation. In addition, we showed consistent strain of the TCP muscles from 18 samples from two batches that produced an average strain of 22% (batch 1) to 20% (batch 2) with standard deviation of 2.5-1.8% respectively.

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“…The transport of hydrated cations within an IPMC beam under the applied voltage and the associated electrostatic interactions lead to the bending of an IPMC beam, as illustrated in Figure 1. 3 Aside from other active materials, IPMCs possess soft properties and can be constructed as flexible structures that can be driven by low voltages for operation in aqueous environments. Thus, IPMCs are highly appealing for studies in underwater robotics.…”

Section: Introductionmentioning

confidence: 99%

Ionic polymer–metal composite applications

HaqMazhar

GangZhao

2016

Emerging Materials Research

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In this paper, the authors present a comprehensive review of ionic polymer-metal composites (IPMCs) covering their fundamentals, fabrication processes, characterization and applications. IPMCs are becoming increasingly popular among scholars, engineers and scientists due to their inherent properties of low activation voltage, large bending strain -that is, the transformation of electrical energy to mechanical energy -and properties to be used as a bidirectional material -that is, they can be used as actuators and sensors. Among the diversity of electroactive

show abstract

A novel fabrication of ionic polymer–metal composite membrane actuator capable of 3-dimensional kinematic motions

Cited by 128 publications

References 16 publications

Design and Control of an EMG Driven IPMC Based Artificial Muscle Finger

Design and Control of an EMG Driven IPMC Based Artificial Muscle Finger

Twisted and coiled polymer (TCP) muscles embedded in silicone elastomer for use in soft robot

Ionic polymer–metal composite applications

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