Integrated design of IPMC actuator/sensor

Author

Yamakita, Masaki ; Sera, Akio ; Kamamichi, Norihiro ; Asaka, Kinji ; Luo, Zhi-wei

Author_Institution

Dept. of Mech. & Control Eng., Tokyo Inst. of Technol.

fYear

2006

fDate

15-19 May 2006

Firstpage

1834

Lastpage

1839

Abstract

We are studying about robotic application of ionic polymer-metal composite (IPMC). The characteristics of IPMC highly depend on the type of counter-ions, and it is considered that the performance of the actuators can be improved by combining the actuators with several types of counter-ions and applying an integrated control. IPMC has also a sensor function, as the IPMC film generates electromotive force when it is deformed. It has possibility to be integrated into IPMC actuator with soft actuation. In this paper, we consider an integrated design of IPMC actuator/sensor, and investigate a control of the combined IPMC actuators using H_infin control and the construction of IPMC sensor system

Keywords

H^infin control; composite materials; conducting polymers; electric potential; electric sensing devices; robots; H_infin control; IPMC actuator; IPMC sensor system; electromotive force; ionic polymer-metal composite; robotic application; soft actuation; Actuators; Chemical industry; Chemical technology; Counting circuits; Mechanical sensors; Polymer films; Polymer gels; Robot sensing systems; Sensor phenomena and characterization; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1641973

Filename

1641973