Actuation and Sensing Studies of a Miniaturized Five Fingered Robotic Hand Made with Ion Polymeric Metal Composite (IPMC)

Abstract

Nafion based IPMC (Ion Polymeric Metal Composites) has been prepared by using a tetraaquaplatinum (II) complex, [Pt (H2O)4])ClO4)2. Fabrication of a robotic mini-hand comprising five micro-fingers of 5 mm length, 400 μm width at a pitch of 600 μm has been achieved by adopting mechanicalmicro milling' technique. The micro-fingers prepared from the IPMC material were found to actuate successfully under operating voltage of 2.5 V.

Using Ionic Polymer Metal Composite (IPMC)based Devices for Naked-eye Sensing of Thiocyanate Ion (SCN-)

“…The noble metals such as gold or platinum can be electrode materials to improve surface conductivity (Figure 1). We have been engaged in developing actuators and sensors using IPMCs [17,18]. Very recently we have reported results of the actuation and sensing studies of a five-fingered miniaturized robotic hand fabricated by using IPMC [18].…”

“…We have been engaged in developing actuators and sensors using IPMCs [17,18]. Very recently we have reported results of the actuation and sensing studies of a five-fingered miniaturized robotic hand fabricated by using IPMC [18]. In the present work we explored the possibility of using IPMC strip as a device for detection of thiocyanate (SCN -).…”

Soft Ionic Electroactive Polymer Actuators with Tunable Non-Linear Angular Deformation

“…Electroactive polymer actuators, and in particular ionic electroactive polymer (IEAP) actuators, have attracted enormous interest and attention from the soft-robotic community and have been subject to extensive studies over the past several years [ 7 , 8 , 9 , 10 , 11 , 12 , 13 ]. Depending on the design, IEAP actuators can exhibit either linear or circular deformation.…”

“…Locomotor muscles are usually integrated with skeleton or exoskeleton structures to form limbs. Some robotics applications like microgrippers [ 8 , 31 ] and miniaturized five fingered robots [ 7 ] would have worked more efficiently with angular (limb-like) rather than circular motion. To achieve angular motion, some researchers controlled individual segments of the IEAP actuators, moving them in different directions [ 32 , 33 ].…”

Ion transport in ionomeric polymers for ionic electroactive polymer devices

“…The field of robotics is currently dominated by "hard robots" consisting of hard materi- Mimicking a Venus flytrap [146], flapping wings [147,148], artificial muscles [149,123], and soft actuator propelled fish robot [150,151] are some great examples that utilize circular bending soft actuators. On the other hand; some other applications like microgrippers [152,153], and miniaturized five fingered robotic [154], would have been more utilized with a limb-like motion rather than a circular motion. To achieve the limb-like motion, some studies used segments of IEAP actuators to be controlled individually in different direction [155,156].…”