Self-sensing control of Nafion-based Ionic Polymer-Metal Composite (IPMC) actuator in the extremely low humidity environment

Minoru Sasaki, Wenyi Lin, Hirohisa Tamagawa, Satoshi Ito, Keiko Kikuchi

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)

Abstract

This paper presents feedforward, feedback and two-degree-of-freedom control applied to an Ionic Polymer-Metal Composite (IPMC) actuator. It presents a high potential for development of miniature robots and biomedical devices and artificial muscles. We have reported in the last few years that dehydration treatment improves the electrical controllability of bending in Selemion CMV-based IPMCs. We tried to replicate this controllability in Nafion-based IPMC. We found that the displacement of a Nafion-based IPMC was proportional to the total charge imposed, just as in the Selemion-CMV case. This property is the basis of self-sensing controllers for Nafion-based IPMC bending behavior: we perform bending curvature experiments on Nafion-based IPMCs, obtaining the actuator's dynamics and transfer function. From these, we implemented self-sensing controllers using feedforward, feedback and two-degree-of-freedom techniques. All three controllers performed very well with the Nafion-based IPMC actuator.

Original languageEnglish
Pages (from-to)74-85
Number of pages12
JournalActuators
Volume2
Issue number4
DOIs
Publication statusPublished - 2013 Dec 1

Keywords

  • Control
  • IPMC
  • Nafion
  • System identification

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization

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