An external disturbance sensor for ionic polymer metal composite actuators

Bakhtiarpour, Parisa; Parvizi, Amin; Müller, Martin; Shahinpoor, Mohsen; Marti, Othmar; Amirkhani, Masoud

doi:10.1088/0964-1726/25/1/015008

Cited by 8 publications

(12 citation statements)

References 40 publications

(47 reference statements)

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“…In [72] the total charge of the dehydrated IPMC was used for self-sensing feedback control at the extremely low absolute humidity of the environment, in which the relationship between the bending curvature and total charge becomes linear. Another self-sensing technique, called the high-frequency resistance sensor, was presented in [117]. The method allows one to detect the bending of the actuator by measuring the resistance across the IPMC at a sufficiently high frequency, which makes the voltage-current dependency to show a linear behavior and follow Ohm's law.…”

Section: ) Sensor-less Methodsmentioning

confidence: 99%

Challenges and Perspectives in Control of Ionic Polymer-Metal Composite (IPMC) Actuators: A Survey

et al. 2020

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Ionic polymer-metal composites (IPMC) are electroactive polymers expected to be used as soft actuators in various practical areas like robotics, biomedicine and micro manipulation systems. Though IPMC actuators have many advantages (lightweight, noiseless operation, low operating voltage, possibility of miniaturization), some of their inherent properties (back-relaxation, hysteresis, high sensitivity to ambient conditions, aging) make their precise and reliable control a challenging task. This paper presents a survey of control methods for IPMC actuators. A systematic overview of the techniques, addressing the main challenges in IPMC control, is provided. INDEX TERMS Control methods, electroactive polymer (EAP), ionic polymer-metal composite (IPMC), smart material, soft actuator.

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Section: ) Sensor-less Methodsmentioning

confidence: 99%

Challenges and Perspectives in Control of Ionic Polymer-Metal Composite (IPMC) Actuators: A Survey

et al. 2020

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Section: Self-sensing Actuation Methodsmentioning

confidence: 99%

“…Bakhtiarpour et al proposed an IPMC self-sensing method that measures changes in the through-IPMC resistance, which is dominantly resistive at high frequencies [143]. Low-frequency actuation voltage (<10 Hz) was modulated with high-frequency reference signal (>1 kHz), and IPMC resistance was measured through voltage amplitude on an external reference resistor, as explained in Figure 18, as through-IPMC impedance is dominantly resistive at high frequencies [143]. Experiments at 0.5 Hz and 1 Hz actuation frequencies with up to 3.5 V amplitude demonstrated correlation between the sensing output and deformation measurements, and ability to function in the presence of external disturbances, although being less sensitive than the laser sensor.…”

Section: Self-sensing Actuation Methodsmentioning

confidence: 99%

“…To improve sensitivity of the SSA method above [143], Amirkhani and Bakhtiarpour proposed an asymmetrical clamp design that increases the measurable resistance variations by introducing also varying contact area (and thus resistance) between the clamp and IPMC electrode, as illustrated in Figure 18 [12]. Actuation input was modulated with a 10 kHz reference signal to measure the series resistance of the asymmetric clamping contacts and the IPMC sample (>50 Ω) through voltage on a 14ptsans-serifΩ reference resistor.…”

Section: Self-sensing Actuation Methodsmentioning

confidence: 99%

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Sensing and Self-Sensing Actuation Methods for Ionic Polymer–Metal Composite (IPMC): A Review

MohdIsa

Hunt

HosseinNia

2019

Sensors

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Ionic polymer–metal composites (IPMC) are smart material transducers that bend in response to low-voltage stimuli and generate voltage in response to bending. IPMCs are mechanically compliant, simple in construction, and easy to cut into desired shape. This allows the designing of novel sensing and actuation systems, e.g., for soft and bio-inspired robotics. IPMC sensing can be implemented in multiple ways, resulting in significantly different sensing characteristics. This paper will review the methods and research efforts to use IPMCs as deformation sensors. We will address efforts to model the IPMC sensing phenomenon, and implementation and characteristics of different IPMC sensing methods. Proposed sensing methods are divided into active sensing, passive sensing, and self-sensing actuation (SSA), whereas the active sensing methods measure one of IPMC-generated voltage, charge, or current; passive methods measure variations in IPMC impedances, or use it in capacitive sensor element circuit, and SSA methods implement simultaneous sensing and actuation on the same IPMC sample. Frequency ranges for reliable sensing vary among the methods, and no single method has been demonstrated to be effective for sensing in the full spectrum of IPMC actuation capabilities, i.e., from DC to ∼100 Hz. However, this limitation can be overcome by combining several sensing methods.

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“…Alternatively, graphene can be used as electrodes [73], fillers [74,75], and conductive substrates [72] for actuators rather than being as the solo functional material. These have been well reviewed elsewhere.…”

Section: Artificial Musclesmentioning

confidence: 99%

Design, Assembly, and Fabrication of Two-Dimensional Nanomaterials into Functional Biomimetic Device Systems

Hou¹,

Zhang²,

Chi³

2016

Two-Dimensional Materials - Synthesis, Characterization and Potential Applications

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Diverse functioning biosystems in nature have inspired us and offered unique opportunities in developing novel concepts as well as new class of materials and devices. The design of bioinspired functional materials with tailored properties for actuation, sensing, electronics, and communication has enabled synthetic devices to mimic natural behavior. Among which, artificial muscle and electronic skin that enable to sense and respond to various environmental stimuli in a human-like way have been widely recognized as a significant step toward robotics applications. Polymer materials have previously been dominant in fabricating such functional biomimetic devices owing to their soft nature. However, lacking multifunctionality, handling difficulty, and other setbacks have limited their practical applications. Recently, versatile and highperformance two-dimensional (2D) materials such as graphene and its derivatives have been studied and proven as promising alternatives in this area. In this chapter, we highlight the recent efforts on fabrication and assembly of 2D nanomaterials into functional biomimetic systems. We discuss the structure-function relationships for the development of 2D materials-based biomimetic devices, their tailoring property features, and their variety of applications. We start with a brief introduction of artificial functional biomimetic materials and devices, then summarize some key 2D materialsbased systems, including their fabrication, properties, advantages and demonstrations, and finally present concluding remarks and outlook.

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An external disturbance sensor for ionic polymer metal composite actuators

Cited by 8 publications

References 40 publications

Challenges and Perspectives in Control of Ionic Polymer-Metal Composite (IPMC) Actuators: A Survey

Challenges and Perspectives in Control of Ionic Polymer-Metal Composite (IPMC) Actuators: A Survey

Sensing and Self-Sensing Actuation Methods for Ionic Polymer–Metal Composite (IPMC): A Review

Design, Assembly, and Fabrication of Two-Dimensional Nanomaterials into Functional Biomimetic Device Systems

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