Control of IPMC actuator using self-sensing method
- Title
- Control of IPMC actuator using self-sensing method
- Author
- 이성준
- Keywords
- Artificial muscle; Actuators; Ionic polymer metal composites; Accumulated charge; Low driving voltage; Embedded systems; Self-sensing; Muscle; External sensors; Sensors; Electro-active polymers; IPMC
- Issue Date
- 2009-05
- Publisher
- IFAC Secretariat
- Citation
- 8th IFAC International Conference on Fieldbuses and Networks in Industrial and Embedded Systems, v. 42, NO. 3, Page. 267-270
- 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.
- URI
- https://www.sciencedirect.com/science/article/pii/S1474667016341714?via%3Dihubhttps://repository.hanyang.ac.kr/handle/20.500.11754/183176
- ISSN
- 1474-6670
- DOI
- 10.3182/20090520-3-KR-3006.00043
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > INTEGRATIVE ENGINEERING(융합공학과) > Articles
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