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Self-Sensing Control of Nafion-Based Ionic Polymer-Metal Composite (IPMC) Actuator in the Extremely Low Humidity Environment

1
Department of Human and Information Systems Engineering, Faculty of Engineering, Gifu University, Gifu 501-1193, Japan
2
Department of Materials Processing, Graduate School of Engineering, Tohoku University, 6-6-02 Aramaki-aza aoba, Aoba-ku, Sendai 980-8579, Japan
*
Author to whom correspondence should be addressed.
Actuators 2013, 2(4), 74-85; https://doi.org/10.3390/act2040074
Received: 6 August 2013 / Revised: 6 September 2013 / Accepted: 24 September 2013 / Published: 1 October 2013
(This article belongs to the Special Issue Human Centered Actuators)
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. View Full-Text
Keywords: IPMC; Nafion; control; system identification IPMC; Nafion; control; system identification
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Sasaki, M.; Lin, W.; Tamagawa, H.; Ito, S.; Kikuchi, K. Self-Sensing Control of Nafion-Based Ionic Polymer-Metal Composite (IPMC) Actuator in the Extremely Low Humidity Environment. Actuators 2013, 2, 74-85.

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