Development of a distributed actuation device consisting of soft gel actuator elements

Tadokoro, Satoshı; Fuji, S.; Fushimi, Masahide; Kanno, R.; Kimura, Tetsuya; Takamori, Toshi; Oguro, Keisuke

doi:10.1109/robot.1998.680640

Cited by 40 publications

(15 citation statements)

References 8 publications

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“…The thickness of the Pt electrode layer is approximately 3 μm, and its grain size is in the range of 30-100 nm. Compared to the previous reports [12,13] , this sheet seems thinner, and the size of Pt nano particles seems smaller. Those changes can potentially bring a big output displacement.…”

Section: Mechanical Propertiescontrasting

confidence: 83%

“…We therefore observed the nano-Pt grains by SEM. Because there are many reported images of IPMC actuators fabricated from commercial PFSA membrane [11,12] , here we only show SEM images from the hybrid membrane in Figures 3(e) and 3(f). In Figure 3(e), there are many small cracks with sizes of 20-80 nm.…”

Section: Mechanical Propertiesmentioning

confidence: 99%

“…For a conventional IPMC actuator, an ionchange membrane (ion-change capacity of ~0.95 mmol H + /g polymer) such as perfluorosulfonate acid (Scheme 1, PFSA, a commercial name of Nafion) or perfluorocarbonic acid (PFCA, a commercial name of Flemion), inside which larger native nano-scale channels exist, is sandwiched by two inert metal sheets, often made of Pt or Au nano particles , as working electrodes. As a result, force and displacement are derived from migration of hydrate cations inside the inner conduits [11,12] . It is well known that the existing IPMC actuators have two weaknesses, low force density and short non-water working time (NWT) [9] .…”

Section: Introductionmentioning

confidence: 99%

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Hybrids perfluorosulfonic acid ionomer and silicon oxide membrane for application in ion-exchange polymer-metal composite actuators

Guo

Ding

Wei

et al. 2009

Sci. China Ser. E-Technol. Sci.

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Citation: Guo D J, Ding H T, Wei H J, et al. Hybrids perfluorosulfonic acid ionomer and silicon oxide membrane for application in ion-exchange polymer-metal composite actuators.This paper reports a new technique to fabricate an ion-exchange polymer-metal composite (IPMC) actuator. This technique is based on a hybrid organic-inorganic composite membrane. In the fabrication course, silica oxide particles, prepared from hydrolysis of tetraethyl orthosilicate in situ with sol-gel reaction, co-crystallize with perfluorosulfonate acid (PFSA) ionomer. Attenuated total reflectance fourier transform infrared spectroscopy (ATR-FTIR) analyses demonstrate that a highly water-saving hybrid membrane is formed. Measurements of mechanical properties reveal that elastic modulus and hardness of the hybrid membrane are about 2 times compared to a commercial PFSA membrane. Scanning electron microscopy (SEM) results show that the hybrid membrane has a high porosity. Inside the membrane pores, there exists a great quantity of micro scale channels in the range of 100-300 nm. After fabrication of IPMC actuator, an electric current sensor, a force sensor, and a high speed camera are assembled and used to evaluate IPMC performance. It is shown that, compared to an IPMC actuator made from a commercial membrane, the electromechanical performance of the new actuator increases 6-8 times; when it is actuated in air, its stable non-water working time is prolonged for 6-7 times.

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Section: Mechanical Propertiescontrasting

confidence: 83%

Section: Mechanical Propertiesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Hybrids perfluorosulfonic acid ionomer and silicon oxide membrane for application in ion-exchange polymer-metal composite actuators

Guo

Ding

Wei

et al. 2009

Sci. China Ser. E-Technol. Sci.

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“…0 Its distributed actuator function realizes actuation with multiple degrees of freedom. ICPF was applied to an active catheter system [2], a distributed actuation device [3], an underwater robot The most serious problem of ICPF is the environmental restriction that it has the function only in water or in wet condition. However, a breakthrough was introduced by Bar-Cohen [8] recently that water was encapsulated within the membrane by a covering material.…”

Section: Fig 1 Bending Motion Of Icpf Actuatormentioning

confidence: 99%

An actuator model of ICPF for robotic applications on the basis of physicochemical hypotheses

Tadokoro

Yamagami

Takamori

et al.

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (C

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The ICPF (Ionic Conducting Polymer gel Film) actuator is a new high polymer gel actuator by which revolutionary robotic mechanisms are expected. Actuator models for CAE are essential to the robotic design. However, present black/gray-box models of ICPF cannot express its nonlinear characteristics with enough accuracy, In this paper, a white-box actuator model is proposed on the basis of physicochemical hypotheses on the motion principle which are supported at present. In this model, travel of sodium ions and water molecules in the actuator membrane is modeled. Internal stress is generated by swell and contraction of the gel by water content change, electrostatic force of jixed sulfonic acid groups, and momentum conservation effect. Simulation results show higher accuracy on transient response and nonlinear characteristics in comparison with conventional models.

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“…Therefore, many studies about the possibility of utilization are under way. For example, IPMC was applied to an active catheter system (Guo et al, 1995), a distributed actuation device (Tadokoro et al, 1998), an underwater robot (Guo et al, 1998), a micropump (Guo et al, 1999), micro manipulators , a face-type actuator , and a wiper of an asteroid rover . 1PMC was especially utilized in the endoscopic microcapsule studied by the author together with electrostrictive polymer (EP) (Kornbluh et al, 2000;Zhenyl et al, 1994 ;Heydt et al, 1998), because it * Corresponding Author.…”

Section: Introductionmentioning

confidence: 99%

A study on the control of an IPMC actuator using an adaptive fuzzy algorithm

Kim

2004

KSME International Journal

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The Ionic Polymer Metal Composite (IPMC) is one of the electroactive polymers (EAP) that was shown to have potential application as an actuator, it bends by applying a low voltage current (1--3 V) to its surfaces when containing water. In this paper, the basic characteristics and the static & dynamic modeling of IPMC is discussed. In modeling and analysis, the equations of motion, which describe the total dynamics of the system, are driven. To control the position of the IPMC actuator, an adaptive fuzzy algorithm is used. IPMC is a time varying system because the some parameters vary with the passage of time. In this paper, the modeling and control of IPMC is introduced.

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Development of a distributed actuation device consisting of soft gel actuator elements

Cited by 40 publications

References 8 publications

Hybrids perfluorosulfonic acid ionomer and silicon oxide membrane for application in ion-exchange polymer-metal composite actuators

Hybrids perfluorosulfonic acid ionomer and silicon oxide membrane for application in ion-exchange polymer-metal composite actuators

An actuator model of ICPF for robotic applications on the basis of physicochemical hypotheses

A study on the control of an IPMC actuator using an adaptive fuzzy algorithm

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