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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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