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Control of IPMC actuator using self-sensing method
- Authors
- Koo, Bonmin; Na, Doo-su; Lee, Sungjun
- Issue Date
- May-2009
- Publisher
- IFAC Secretariat
- 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
- Citation
- 8th IFAC International Conference on Fieldbuses and Networks in Industrial and Embedded Systems, v.42, no.3, pp.267 - 270
- Indexed
- SCOPUS
- Journal Title
- 8th IFAC International Conference on Fieldbuses and Networks in Industrial and Embedded Systems
- Volume
- 42
- Number
- 3
- Start Page
- 267
- End Page
- 270
- ISSN
- 1474-6670
- 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.
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Related Researcher
- Lee, Song Jun
- ERICA 공학대학 (DEPARTMENT OF INTEGRATIVE ENGINEERING)