Lab on a soft robot: Electrically controlled tuning fork shaped IPMC clamping actuator with ultrasonic imaging and displacement self-detecting capabilities

This paper presents a tuning fork shaped ionic polymer metal composite (IPMC) clamping actuator with ultrasonic imaging and displacement detecting functions. A soft object such as blood vessel can be treated with ultrasonic wave or acquire its interior ultrasonic images under varied stresses by electrical control of the arms of IPMC actuator. The 3-dimensional IPMC actuator is fabricated with Nafion and patterned nickel electrodes through a micro-molding process. During the shaping process, an active ultrasonic element and water replenishing mechanism are embedded in the Nafion device for ultrasonic function and long-term operation performance improvement, respectively. A novel pliant strain gage is also made to be integrated with the IPMC actuator for motion sensing. The fabricated multifunctional IPMC clamping actuator is tested. Detailed experimental results are described.