Integrated design of an ionic polymer-metal composite actuator/sensor

We are studying the robotic application of ionic polymer-metal composite (IPMC). The characteristics of IPMC greatly depend on the type of counterions, and it is considered that the performance of the actuators can he improved by combining the actuators with several types of counterions and applying an integrated control. IPMC also has a sensor function, as the IPMC film generates an electromotive force when it is deformed. It has the possibility to be integrated into an IPMC actuator with soft actuation. In this paper, we consider an integrated design of an IPMC actuator/sensor, and investigate control of the combined IPMC actuators using H., control and the construction of an IPMC sensor system. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008.