An integrated electroactive polymer sensor–actuator: design, model-based control, and performance characterization

Hunt, Andrés; Chen, Zheng; Tan, Xiaobo; Kruusmaa, Maarja

doi:10.1088/0964-1726/25/3/035016

Cited by 29 publications

(34 citation statements)

References 49 publications

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“…Sensing with IPMCs can be realized by several means i.e. measuring voltage [36], [37], [38], [39], [40], current [37], [19], [41], [31], [25], [42], [43], charge [37], [44], [29], [45], [46], and the impedance change [47], [48].…”

Section: Introductionmentioning

confidence: 99%

Active Sensing Methods of Ionic Polymer Metal Composite (IPMC): Comparative Study in Frequency Domain

MohdIsa

Hunt

HosseinNia

2019

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)

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Active sensing methods of ionic polymer metal composite (IPMC) Abstract-Ionic polymer-metal composites (IPMCs) are soft transducers that bend in response to low-voltage input, and generate voltage in response to deformations. Their potential applications include compliant locomotion systems, small-scale robotics, energy harvesting and biomedical instrumentation. The materials are inherently compliant, simple to shape, simple to miniaturize and simple to integrate into a system. Compared to actuation, IPMC sensing has not been intensively studied. The existing reports focus on the sensing phenomenon, but provide insufficient characterization for implementation purposes. This work aims to address this gap by studying and comparing the frequency responses and noise dynamics of different IPMC active sensing signals, i.e. voltage, charge and current. These characteristics are experimentally identified by mechanically exciting IPMC samples, and simultaneously measuring the respective signals and material deformations. The results provide a systematic comparison between different implementations of active sensing with IPMCs, and give insights into their strengths and limitations.

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Section: Introductionmentioning

confidence: 99%

Active Sensing Methods of Ionic Polymer Metal Composite (IPMC): Comparative Study in Frequency Domain

MohdIsa

Hunt

HosseinNia

2019

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)

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“…While IPMC has been thoroughly investigated, for the porous electrode based actuators only a few equivalent circuit or grey box models and control oriented transfer function models have been reported earlier. [30][31][32][33][34][35] As pointed out hereinabove, the electrodes of CPC are highly porous in nature. The effect of the tortuosity and porosity on the physical and electrical properties of the electrode and separator has not been observed in the prospect of actuator applications.…”

Section: B Motivationmentioning

confidence: 82%

Effect of porosity and tortuosity of electrodes on carbon polymer soft actuators

Punning

Johanson

et al. 2018

Journal of Applied Physics

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This work presents an electro-mechanical model and simulation of ionic electroactive polymer soft actuators with a porous carbon electrode, polymer membrane, and ionic liquid electrolyte. An attempt is made to understand the effects of specific properties of the porous electrodes such as porosity and tortuosity on the charge dynamics and mechanical performance of the actuator. The model uses porous electrode theory to study the electrochemical response of the system. The mechanical response of the whole laminate is attributed to the evolution of local stresses caused by diffusion of ions (diffusion-induced stresses or chemical stresses). The model indicates that in actuators with porous electrode, the diffusion coefficient of ions, conductivity of the electrodes, and ionic conductivity in both electrodes and separator are altered significantly. In addition, the model leads to an obvious deduction that the ions that are highly active in terms of mobility will dominate the whole system in terms of resulting mechanical deformation direction and rate of deformation. Finally, to validate the model, simulations are conducted using the finite element method, and the outcomes are compared with the experimental data. Significant effort has been put forward to experimentally measure the key parameters essential for the validation of the model. The results show that the model developed is able to well predict the behavior of the actuator, providing a comprehensive understanding of charge dynamics in ionic polymer actuator with porous electrodes.

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“…IPMCs have been prepared and examined as IEAPS for nearly 30 years 214,215. Application of an electric field to hydrated IPMCs causes deformation (most commonly bending) by inducing transport of hydrated cations and water molecules within the membrane 214,216. In IPMCs, upon exposure to an electric field, solvated cations move freely through channels in the immobilized anionic polymer network of the actuator.…”

Section: Ionic Electroactive Polymersmentioning

confidence: 99%

“…IPMC systems have been fabricated in more complex geometries, for instance to realize material state awareness and feedback of coupled IPMC‐sensor‐actuators in robotics implementations 216. Other work has focused on improving IPMCs by diversifying their electrolyte film chemistries.…”

Section: Ionic Electroactive Polymersmentioning

confidence: 99%

Materials as Machines

2020

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of responsive materials as machines is in robotics. The vision, leadership, and research of Bar-Cohen is seminal in both invigorating and focusing current-day research activities to develop responsive materials [2] and implement [3] them as lightweight, dexterous, and gentle (e.g., soft) robotic elements. In this spirit, this review exhaustively details the materials, the nature of their stimuli-response, and discusses considerations for their implementation in robotic systems and subsystems.Robotics is a well-established but growing field of research. Sustained progress in both performance and functionality continue to be realized in commercial robotic systems largely based on conventional materials and their integration with mechanisms. A recent example is the Atlas robot from Boston Dynamics [4] (Figure 1a). The incorporation of stimuli-responsive materials in robotics has largely focused on component-level demonstrations to extend the performance of a subsystem (such as a hand or gripper).Stimuli-responsive materials, spanning nearly all classes of materials and size scales, are currently subject to widespread examination in corporate, government, and academic research laboratories (Figure 1b-d). [5][6][7] In some cases, these materials have already found widespread commercial implementation in end use and are comparatively mature. The materials and fundamentals of their responses are summarized in Figure 2. Shape memory alloys (SMAs) and ceramic piezoelectric materials are distinctive in that they are hard, stimuli-responsive materials. Deformation of these materials can produce large energy densities due to their inherent stiffness. Electroactive polymers (EAPs) remain a topic of considerable interest, particularly dielectric elastomer actuators (DEAs). Engineered systems are rapidly emerging and enabling performance gains in robotics, largely based on pneumatic or fluidic (such as HASEL [8] actuators) transport processes that localize deformation to generate force or produce motion. Soft materials, such as shape memory polymers (SMPs), hydrogels, and liquid crystalline polymer networks (LCNs) and elastomers (LCEs) may offer distinctive functional performance to robotic systems in allowing local control of deformation without the need for complex interfacing with mechanisms. As will be evident, each of these materials has inherent advantages and performance tradeoffs that must be considered in functional implementations. However, responsive material systems have a common obstacle to widespread use: the performance and Machines are systems that harness input power to extend or advance function. Fundamentally, machines are based on the integration of materials with mechanisms to accomplish tasks-such as generating motion or lifting an object. An emerging research paradigm is the design, synthesis, and integration of responsive materials within or as machines. Herein, a particular focus is the integration of responsive materials to enable robotic (machine) functions such as gripping, lifting, or motility (walk...

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An integrated electroactive polymer sensor–actuator: design, model-based control, and performance characterization

Cited by 29 publications

References 49 publications

Active Sensing Methods of Ionic Polymer Metal Composite (IPMC): Comparative Study in Frequency Domain

Active Sensing Methods of Ionic Polymer Metal Composite (IPMC): Comparative Study in Frequency Domain

Effect of porosity and tortuosity of electrodes on carbon polymer soft actuators

Materials as Machines

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