Linear approximate dynamic model of ICPF (ionic conducting polymer gel film) actuator

Ryu Kanno, Satoshi Tadokoro, Toshi Takamori, Motofumi Hattori

Research output: Contribution to journalConference articlepeer-review

154 Citations (Scopus)


The ionic conducting polymer gel film (ICPF) actuator is a perfluorosulfonic acid membrane plated with platinum on its both surfaces. It bends in water and in wet condition by applying a low voltage of 1.5 V to its surfaces. This phenomenon was discovered in 1992. The principle of the motion is still unknown. This paper discusses 2-dimensional linear approximate modeling of the ICPF actuator. The authors are proposing a dynamic model of the actuator consisting of an electrical stage, a stress generation stage and a mechanical stage. In the stress generation stage, time derivative of current generates the internal stress with a second degree delay. Expansion and contraction of each surface induce bending motion in the mechanical stage. Simulation results were in agreement with actual responses.

Original languageEnglish
Pages (from-to)219-225
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1996 Jan 1
Externally publishedYes
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: 1996 Apr 221996 Apr 28

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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