Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
721798 | IFAC Proceedings Volumes | 2009 | 4 Pages |
Abstract
IPMC (Ionic Polymer Metal Composites) is a kind of EAP (Electro-active Polymer) which generates bending motions by low driving voltage. Since it is light and soft, IPMC has potentiality to be used as an actuator and a sensor. The IPMC actuator is being applied to the field of artificial muscles that can substitute joints or muscles of human body. Moreover, external sensors are integrated into the robot system for the precise motion control. This paper proposes a method that can maintain position of the IPMC actuator and suggest a viability to handle a weak object with IPMC actuator itself without any additional sensor by the advanced self-sensing method which utilizes the accumulated charges inside the IPMC.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Bonmin Koo, Doo-su Na, Songjun Lee,