Engineered IPMC sensors: modeling, characterization, and application towards wearable postural-tactile measurement

Abstract

This paper focuses on the modeling and development of engineered ionic polymer-metal composite (eIPMC) sensors for applications such as postural and tactile measurement in mechatronics/robotics-assisted finger rehabilitation therapy. Specifically, to tailor the sensitivity of the device, eIPMCs, fabricated using a polymer-surface abrading technique, are utilized as the sensing element. An enhanced chemoelectromechanical model is developed that captures the effect of the abrading process on the multiphysics sensing behavior under different loading conditions. The fabricated sensors are characterized using scanning electron microscopy imaging and cyclic voltammetry and chronoamperometry. Results show significant improvement in the electrochemical properties, including charge storage, double layer capacitance, and surface conductance, compared to the control samples. Finally, prototype postural-tactile finger sensors composed of different eIPMC variants are created and their performance validated under postural and tactile experiments. The tailored eIPMC sensors show increased open-circuit voltage response compared to control IPMCs, with 7.7- and 4.7-times larger peak-to-peak bending response under postural changes, as well as a 3.2-times more sensitive response under compression during tactile loading, demonstrating the feasibility of eIPMC sensors.