Control of linear artificial muscle actuator using IPMC

We are developing a linear artificial muscle actuator using ionic polymer-metal composites (IPMC) which is an electro-active polymer that bends in response to electric stimuli and the goal of our study is to apply the actuator to robotic applications. The elementary unit of the actuator was constructed, and its empirical model was identified from input-output data. In this paper, we design a controller using its model, demonstrate simulation and experimental results of position control of the actuator.