2012
DOI: 10.3390/s121216732
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Abstract: A variety of microrobots have commonly been used in the fields of biomedical engineering and underwater operations during the last few years. Thanks to their compact structure, low driving power, and simple control systems, microrobots can complete a variety of underwater tasks, even in limited spaces. To accomplish our objectives, we previously designed several bio-inspired underwater microrobots with compact structure, flexibility, and multi-functionality, using ionic polymer metal composite (IPMC) actuators… Show more

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Cited by 50 publications
(29 citation statements)
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“…Soft robots are machines fabricated from compliant materials (polymers [1][2][3][4][5][6][7][8] , elastomers [1] , hydrogels [9,10] , granules [11] ); they can operate with several different modes of actuation (i.e., pneumatic [1,5,[11][12][13] , electrical [7,[14][15][16][17][18] , chemical [12,19,20] ), and their motion can be either fast (>1 Hz) [9,12,14] or slow (<0.1 Hz) [1,21] .…”
Section: Introductionmentioning
confidence: 99%
“…Soft robots are machines fabricated from compliant materials (polymers [1][2][3][4][5][6][7][8] , elastomers [1] , hydrogels [9,10] , granules [11] ); they can operate with several different modes of actuation (i.e., pneumatic [1,5,[11][12][13] , electrical [7,[14][15][16][17][18] , chemical [12,19,20] ), and their motion can be either fast (>1 Hz) [9,12,14] or slow (<0.1 Hz) [1,21] .…”
Section: Introductionmentioning
confidence: 99%
“…Figure 2 indicates that the displacement was inversely proportional to the frequency of the input signal, and proportional to the input voltage at a low frequency. However, the displacement variation with respect to voltage was greatly reduced at a high frequency [29].…”
Section: Ipmc Actuatorsmentioning
confidence: 99%
“…These models typically use finiteelement analysis 18 or equivalent circuits 19,20 to characterize the IPMC response. Some models require too many fitting constants so that they do not provide much information about the materials and are difficult to use.…”
Section: 2mentioning
confidence: 99%
“…Shi et al also used an equivalent circuit diagram to describe a Nafion-based IPMC, incorporating two additional resistors to account for the gold electrodes. 20 Their work led to the tip-displacement being described as:where three fitting constants (Q, a, b) are used. One may treat Eq.…”
mentioning
confidence: 99%
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