Experimental performance and feasibility of a miniature single-degree-of-freedom rotary joint with integrated IPMC actuator

A recurrent neural network–based model for predicting bending behavior of ionic polymer–metal composite actuators

“…The high predictive accuracy, despite the significant difference between the shape of the stimulus signals and the response to them, shows that RNN 5 has high flexibility and is well-trained. These results promise the use of the proposed structure in practical applications, for example, where IPMC is used as an actuator in robotic systems (Bar-Cohen et al, 2000;McDaid et al, 2010;Manley et al, 2009;Sadeghipour et al, 1992;Santos et al, 2010;Takagi et al, 2006) or medical implants (Fang et al, 2007;Farid et al, 2014;Feng and Chen, 2007;Shahinpoor and Kim, 2004). Indeed, precise identification promotes the IPMC's control and usage.…”

“…Ionic polymer–metal composites (IPMCs) are a type of electroactive polymers that can be employed as actuators and sensors for emerging robotic applications (Bar-Cohen et al, 2000; McDaid et al, 2010; Manley et al, 2009; Sadeghipour et al, 1992; Santos et al, 2010; Takagi et al, 2006) and biomedical applications (Fang et al, 2007; Farid et al, 2014; Feng and Chen, 2007; Shahinpoor and Kim, 2004) via their intrinsic coupling of electrical and mechanical domains (McDaid et al, 2012; Shahinpoor, 2003). Ionic polymers in a composite form with a conductive material such as metals or other conductive matters (Figure 1) can exhibit a large bending if appropriately stimulated with a low amplitude voltage (<5 V) (Adolf et al, 1993; Asaka et al, 1995; Ehsani et al, 2009; Oguro et al, 1993; Shahinpoor, 1998, 2015; Shahinpoor et al, 1998).…”

“…The IPMC’s high potential for various applications in robotic actuators (Bar-Cohen et al, 2000; McDaid et al, 2010; Manley et al, 2009; Sadeghipour et al, 1992; Santos et al, 2010; Takagi et al, 2006), artificial muscles (Annabestani et al, 2016a, 2018; Shahinpoor and Kim, 2000), and dynamic sensors (Shahinpoor, 2003) has made the behavior identification and prediction of this smart material as a field of interest. Precision of the most models that were introduced to predict IPMC’s behavior (such as Volterra series (Kothera and Leo, 2005), neural networks (Truong and Ahn, 2011), Box–Jenkins and auto-regressive moving average with exogenous inputs (ARMAX) methods (Yun and Kim, 2006a, 2006b), nonlinear auto-regressive with exogenous inputs (NARX) structure fuzzy model and particle swarm optimization methods (Chi et al, 2011; Nam and Ahn, 2012), ANFIS-NARX model (Annabestani and Naghavi, 2014a, 2014b), and ANFIS-NARX with hysteresis modification (Zamyad et al, 2018)) depends on the output feedback (Zamyad and Naghavi, 2018).…”

Development of an ionic polymer–metal composite stepper motor using a novel actuator model

“…IPMC technology is rapidly evolving as a result of continually increasing research and industrial interest, mainly due to their significant potential in a wide range of applications, including robotics, biomimetics, medical devices as well as replacements for traditional actuators such as motors and linear actuators [2]. IPMC materials have a number of properties making them attractive when compared to traditional actuators, including very low mass and geometries that can be tailored to demand, low power consumption and biocompatibility [3].…”

“…IPMC materials have a number of properties making them attractive when compared to traditional actuators, including very low mass and geometries that can be tailored to demand, low power consumption and biocompatibility [3]. However, there are still a number of key issues that need to be overcome before they are widely accepted as viable alternatives to traditional sensors and actuators [2].…”