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Micromachines 2012, 3(1), 126-136; doi:10.3390/mi3010126
Article

Multi-Input Multi-Output Integrated Ionic Polymer-Metal Composite for Energy Controls

1,* , 2
,
2
,
3
 and
1,4
1 RIKEN-TRI Collaboration Center for Human-Interactive Robot Research, Advanced Science Institute, RIKEN, 2271-130 Anagahora, Shimoshidami, Moriyama-ku, Nagoya, Aichi, 463-0003, Japan 2 Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 Oookayama, Meguro, Tokyo, 152-8552, Japan 3 Université de Lyon, Lyon, F-69003, France 4 Department of Mechanical Engineering, Mie University, Kamihama 1515, Tsu, Mie, 514-8507, Japan
* Author to whom correspondence should be addressed.
Received: 22 December 2011 / Revised: 13 February 2012 / Accepted: 15 February 2012 / Published: 29 February 2012
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Abstract

This paper presents an integrated sensor/actuator device with multi-input and multi-output designed on the basis of a standard control representation called a distributed port-Hamiltonian system. The device is made from soft material called an ionic polymer-metal composite (IPMC). The IPMC consists of a base film of a polyelectrolyte gel and a double layer of plated metal electrodes. The electrodes of the experimental IPMC are sectioned, and it is implemented as a control system with four pairs of inputs/outputs. We stabilize the system, and detect changes in dynamics by using the control representation.
Keywords: IPMC; polymer; integrated actuators/sensors; controls of PDEs IPMC; polymer; integrated actuators/sensors; controls of PDEs
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).
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Nishida, G.; Sugiura, M.; Yamakita, M.; Maschke, B.; Ikeura, R. Multi-Input Multi-Output Integrated Ionic Polymer-Metal Composite for Energy Controls. Micromachines 2012, 3, 126-136.

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