Control of ionic polymer metal composites

IEEE/ASME Transactions on Mechatronics

Volumn 8, Issue 2, 2003, Pages 245-253

  Richardson, Robert C ^a   Levesley, Martin C ^b   Brown, Michael D ^c   Hawkes, Jamie A ^b   Watterson, Kevin ^d   Walker, Peter G ^b  

^a UNIVERSITY OF MANCHESTER   (United Kingdom)

^b UNIVERSITY OF LEEDS   (United Kingdom)

^c ATKINS   (United Kingdom)

^d LEEDS GENERAL INFIRMARY   (United Kingdom)

Author keywords

Actuator; Derivative (PID); EAP; Force control; Impedance control; Integral; Ionic polymer metal composites (IPMCs); Position control; Proportional

Indexed keywords

ACTUATORS; ELECTRIC IMPEDANCE; ELECTRIC MOTORS; HYDRAULICS; POLYMERS; POSITION CONTROL; ROBOTS;

IONIC POLYMER METAL COMPOSITES;

COMPOSITE MATERIALS;

EID: 0038818494     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2003.812835     Document Type: Review

References (25)

1. D. C. Caldwell, G. A. Medrano, and M. Goodwin, "Control of pneumatic muscle actuators," IEEE Control Syst., vol. 15, pp. 40-48, Nov. 1995.
2. K. Uchino, "Piezoelectric ultrasonic motors: Overview," Smart Mater. Struct., vol. 7, pp. 273-285, 1998.
3. S. G. Wax and R. R. Sands, "Electroactive polymer actuators and devices," in Proc. Conf. Smart Structures and Materials, vol. 3669, Newport Beach, CA, Mar. 1-2, 1999, pp. 2-9.
4. M. Shahinpoor and K.J. Kim, "Ionic polymer-metal composites - I Fundamentals," Int. J. Smart Mater. Struct., vol. 10, pp. 819-833, 2001.
5. D. Adolf, M. Shahinpoor, D. Segalman, and W. Witkowski, "Electrically controlled polymeric gel actuators," U.S. patent 5,250,167, Oct. 5, 1993.
6. Ion-exchange polymer metal composites (IPMC) membranes. Worldwide electroactive polymer (EAP) webhub. NASA, Washington, DC. [Online]. Available: http://ndeaa.jpl.nasa.gov/nasa-nde/hommas/eap/IPMC_prepprocedure.htm.
7. M. Shahinpoor and K. J. Kim, "Design, development, and testing of a multi-fingered heart compression/assist device equipped with IPMC artificial muscles," in Proc. SPIE Smart Structures and Materials: Electroactive Polymer Actuators and Devices, 2001, pp. 411-421.
8. M. Shahinpoor and K. J. Kim, "The effect of surface-electrode resistance on the performance of ionic polymer-metal composite (IPMC) artificial muscles," in Proc. SPIE Smart Structures and Materials: Electroactive Polymer Actuators and Devices, vol. 3669, Newport Beach, CA, Mar. 1-2, 1999, pp. 308-319.
9. K. Oguro and S. Sewa, "Polymer electrolyte with gold electrodes," in Proc. SPIE, Smart Materials and Structures, 1999, vol. 3669, pp. 64-71.
10. S. Tadakoro, S. Yamagami, T. Takamori, and K. Oguro, "Modeling of Nafion-Pt composite actuators (ICPF) by ionic motion," in Proc. SPIE Conf. Electroactive Polymer Actuators and Devices, Newport Beach, CA, Mar. 2000, pp. 92-102.
11. S. Nemat-Nasser and C. Thomas, "Ionic polymer-metal composite (IPMC)," in Electroactive Polymer (EAP) Actuators as Artificial Muscles - Reality, Potential and Challenges, Y. Bar-Cohen, Ed. Bellingham, WA: SPIE, 2001, pp. 139-191.
12. J. H. Lee, J. D. Nam, H. R. Choi, H. M. Kim, J. W. Jeon, and H. K. Kim, "Water uptake and migration effect on IPMC (ion-exchange polymer metal composite) actuator," in Proc. SPIE Conf. Electroactive Polymer Actuators and Devices, Newport Beach, CA, Mar. 2001, pp. 84-93.
13. K. Mallavarapu, K. M. Newbury, and D. J. Leo, "Feedback control of the bending response of ionic polymer-metal composite actuators," in Proc. SPIE Conf. Electroactive Polymer Actuators and Devices, vol. 5-8, Newport Beach, CA, Mar. 2001, pp. 301-310.
14. S. Tadokoro, S. Yamagami, and T. Takamori, "An actuator model of ICPF for robotic applications on the basis of physicochemical hypotheses," in Proc. IEEE Int. Conf. Robotics and Automation, San Francisco, CA, Apr. 2000, pp. 1340-1346.
15. Y. Bar-Cohen, Ed., Electroactive Polymer (EAP) Actuators as Artificial Muscles - Reality, Potential and Challenges. Bellingham, WA: SPIE, 2001.
16. Y. Bar-Cohen, S. Leary, M. Shahinpoor, J. O. Harrison, and J. Smith, "Flexible low-mass device and mechanisms actuated by electroactive polymers," in Proc. SPIE Conf. Electroactive Polymer Actuators and Devices, Newport Beach, CA, Mar. 1-2, 1999, pp. 51-56.
17. Y. Bar-Cohen, S. Sherrit, and S. Lih, "Characterization of the electromechanical properties of EAP materials," in Proc. SPIE Conf. Electroactive Polymer Actuators and Devices, Newport Beach, CA, Mar. 2001, pp. 319-327.
18. T. Rashid and M. Shahinpoor, "Force optimization of ionic polymeric platinum composite artificial muscles by means of an orthogonal array manufacturing method," in Proc. SPIE Conf. Electroactive Polymer Actuators and Devices, Newport Beach, CA, Mar. 2000, pp. 289-298.
19. M. Shahinpoor and K. J. Kim, "Fully dry solid state artificial muscles exhibiting giant electromechanical effect," in Proc. SPIE Conf. Electroactive Polymer Actuators and Devices, Newport Beach, CA, Mar. 2001, pp. 428-435.
20. D. E. Seborg, T. F. Edgar, and D. A. Mellichamp, Process Dynamics and Control. New York: Wiley, 1989.
21. N. Hogan, "Impedance control: An approach to manipulation part I, II, III," J. Dyn. Syst., Meas. Control, vol. 107, no. 1, pp. 1-24, 1985.
22. R. Richardson, "Control and actuation for robotic physiotherapy," Ph.D. dissertation, Dep. Mech. Eng., University of Leeds, Leeds, U.K., 2001.
23. B. Heinrichs, N. Sepehri, and A. B. Thorton-Trump, "Position-based impedance control of an industrial hydraulic manipulator," IEEE Contr. Syst. Mag., vol. 17, pp. 46-52, Feb. 1997.
24. Y. Bar-Cohen, C. Mavroidis, M. Bouzit, B. Dolgin, D. L. Harm, G. E. Kopchok, and R. White, "Virtual reality robotic telesurgery simulations using MEMICA haptic system," in Proc. SPIE Smart Structures and Materials, Electro-Active Polymer Actuators and Devices, Mar. 5-8, 2001, pp. 357-363.
25. R. Richardson, M. D. Brown, and A. R. Plummer, "Pneumatic Impedance Control for Physiotherapy," in Proc. EUREL Int. Conf. Robotics., vol. 2, Mar. 2000.