Self-contained tubular bending actuator driven by conducting polymers

The conducting polymer PEDOT provides the active deformation to control its maneuverability and actuation. To form the body of the actuator and an electrolyte medium to enable transfer of ions during the actuation of conducting polymer, a highly ionically conductive interpenetrating polymer network composed of ionically conductive polyethylene oxide and stretchable nitrile butadiene rubber (NBR) is used. This compliant medium also enables a tight radius of curvature. Laser micromachining is used to pattern PEDOT on the surface. A 0.95 mm diameter device is shown to achieve a 22 mm radius of curvatures under activation of 2 V. A closed form beam bending model for tubular trilayer actuators is derived which predicts the radius of curvature as a function of applied voltage and free strain. This model enables easy prediction of deflection, as is demonstrated.