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Simple Controller Design Based on Internal Model Control for Twisted and Coiled Polymer Actuator

Department of Robotics and Mechatronics, Tokyo Denki University, Tokyo 120-8551, Japan
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Actuators 2018, 7(3), 33; https://doi.org/10.3390/act7030033
Received: 25 May 2018 / Revised: 19 June 2018 / Accepted: 21 June 2018 / Published: 25 June 2018
(This article belongs to the Special Issue Electroactive Polymer Actuators for Soft Robotics)
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Abstract

A twisted and coiled polymer actuator (TCPA) is a novel soft actuator. TCPA is fabricated by twisting nylon fibers. The TCPA extends and contracts by heating and cooling. By applying conductive nylon fibers to the actuator, the electroactive TCPA can be driven by the Joule heating of the applied voltage. It has noteworthy properties such as a high power/mass ratio, large deformation, and low hysteresis. By applying conductive nylon fibers to the actuator, it can be driven by the electrical input. From these properties, many soft robots using the electroactive TCPA have been demonstrated, such as robotic hands, locomotion robots, robot skins, biomimetic robots, and so on. In this paper, to realize a simple controller design, an internal model control based on the identified model is applied. The applied controller can be designed easily without experience in parameter-tuning based on controls theory. The validity of the applied method is investigated through experiments. View Full-Text
Keywords: soft actuator; electroactive polymer (EAP); control system design; twisted and coiled polymer actuator (TCPA); modeling; internal model control soft actuator; electroactive polymer (EAP); control system design; twisted and coiled polymer actuator (TCPA); modeling; internal model control
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Suzuki, M.; Kamamichi, N. Simple Controller Design Based on Internal Model Control for Twisted and Coiled Polymer Actuator. Actuators 2018, 7, 33.

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