Multi-Input Multi-Output Integrated Ionic Polymer-Metal Composite for Energy Controls

Authors

Gou Nishida, Motonobu Sugiura, Masaki Yamakita, Bernhard Maschke, Ryojun Ikeura

Abstract

This paper presents an integrated sensor/actuator device with multi-input and multi-output designed on the basis of a standard control representation called a distributed port-Hamiltonian system. The device is made from soft material called an ionic polymer-metal composite (IPMC). The IPMC consists of a base film of a polyelectrolyte gel and a double layer of plated metal electrodes. The electrodes of the experimental IPMC are sectioned, and it is implemented as a control system with four pairs of inputs/outputs. We stabilize the system, and detect changes in dynamics by using the control representation.

Citation

• Journal: Micromachines
• Year: 2012
• Volume: 3
• Issue: 1
• Pages: 126–136
• Publisher: MDPI AG
• DOI: 10.3390/mi3010126

BibTeX

@article{Nishida_2012,
  title={{Multi-Input Multi-Output Integrated Ionic Polymer-Metal Composite for Energy Controls}},
  volume={3},
  ISSN={2072-666X},
  DOI={10.3390/mi3010126},
  number={1},
  journal={Micromachines},
  publisher={MDPI AG},
  author={Nishida, Gou and Sugiura, Motonobu and Yamakita, Masaki and Maschke, Bernhard and Ikeura, Ryojun},
  year={2012},
  pages={126--136}
}

Download the bib file

References

• Cohen Y., B. (2004). Electroactive Polymer (EAP) Actuators as Artificial Muscles: Reality, Potential, and Challenges, SPIE Press. [2nd].
• Shahinpoor, M. & Kim, K. J. Ionic polymer-metal composites: I. Fundamentals. Smart Materials and Structures vol. 10 819–833 (2001) – 10.1088/0964-1726/10/4/327
• Kothera, C. S. & Leo, D. J. Bandwidth Characterization in the Micropositioning of Ionic Polymer Actuators. Journal of Intelligent Material Systems and Structures vol. 16 3–13 (2005) – 10.1177/1045389x05046310
• Mallavarapu, K. & Leo, D. J. Feedback Control of the Bending Response of Ionic Polymer Actuators. Journal of Intelligent Material Systems and Structures vol. 12 143–155 (2001) – 10.1106/vj5t-9jml-bhv8-m2cg
• Onishi, K., Sewa, S., Asaka, K., Fujiwara, N. & Oguro, K. The effects of counter ions on characterization and performance of a solid polymer electrolyte actuator. Electrochimica Acta vol. 46 1233–1241 (2001) – 10.1016/s0013-4686(00)00695-2
• Yamaue, T., Mukai, H., Asaka, K. & Doi, M. Electrostress Diffusion Coupling Model for Polyelectrolyte Gels. Macromolecules vol. 38 1349–1356 (2005) – 10.1021/ma047944j
• Bennett, M. D. & Leo, D. J. Ionic liquids as stable solvents for ionic polymer transducers. Sensors and Actuators A: Physical vol. 115 79–90 (2004) – 10.1016/j.sna.2004.03.043
• Asaka, K. & Oguro, K. Bending of polyelectrolyte membrane platinum composites by electric stimuli. Journal of Electroanalytical Chemistry vol. 480 186–198 (2000) – 10.1016/s0022-0728(99)00458-1
• Nishida, G., Takagi, K., Maschke, B. & Osada, T. Multi-scale distributed parameter modeling of ionic polymer-metal composite soft actuator. Control Engineering Practice vol. 19 321–334 (2011) – 10.1016/j.conengprac.2010.10.005
• van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics vol. 42 166–194 (2002) – 10.1016/s0393-0440(01)00083-3
• van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7 – 10.1007/978-1-4471-0507-7
• Chen, Z., Tan, X., Will, A. & Ziel, C. A dynamic model for ionic polymer–metal composite sensors. Smart Materials and Structures vol. 16 1477–1488 (2007) – 10.1088/0964-1726/16/4/063
• Electroactive Polymers for Robotic Applications. (Springer London, 2007). doi:10.1007/978-1-84628-372-7 – 10.1007/978-1-84628-372-7
• Tiwari, R. & Kim, K. J. Improved IPMC sensing by use of cation and through induced nano-to-micro scale surface cracks. SPIE Proceedings vol. 6932 69323H (2008) – 10.1117/12.776052
• Nemat-Nasser, S. & Li, J. Y. Electromechanical response of ionic polymer-metal composites. Journal of Applied Physics vol. 87 3321–3331 (2000) – 10.1063/1.372343
• Yamakita, M., Kamamichi, N., Kozuki, T., Asaka, K. & Zhi-Wei Luo. A snake-like swimming robot using IPMC actuator and verification of doping effect. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems 2035–2040 (2005) doi:10.1109/iros.2005.1545485 – 10.1109/iros.2005.1545485
• Yamakita, M., Sera, A., Kamamichi, N. & Asaka, K. Integrated Design of an Ionic Polymer–Metal Composite Actuator/Sensor. Advanced Robotics vol. 22 913–928 (2008) – 10.1163/156855308x315091
• Takagi, K. et al. Frequency response characteristics of IPMC sensors with current/voltage measurements. SPIE Proceedings vol. 6927 692724 (2008) – 10.1117/12.776189
• Shahinpoor, M., Kim, K. J., Henderson, B. K. & Leo, D. J. Sensing capabilities of ionic polymer-metal composites. SPIE Proceedings vol. 4328 267 (2001) – 10.1117/12.435528
• Punning, A., Kruusmaa, M. & Aabloo, A. Surface resistance experiments with IPMC sensors and actuators. Sensors and Actuators A: Physical vol. 133 200–209 (2007) – 10.1016/j.sna.2006.03.010
• Simo, J. C. & Vu-Quoc, L. On the Dynamics of Flexible Beams Under Large Overall Motions—The Plane Case: Part I. Journal of Applied Mechanics vol. 53 849–854 (1986) – 10.1115/1.3171870
• Nishida, G. & Yamakita, M. A higher order Stokes-Dirac structure for distributed-parameter port-Hamiltonian systems. Proceedings of the 2004 American Control Conference 5004–5009 vol.6 (2004) doi:10.23919/acc.2004.1384643 – 10.23919/acc.2004.1384643
• Gotay, M. J. A multisymplectic framework for classical field theory and the calculus of variations II: space + time decomposition. Differential Geometry and its Applications vol. 1 375–390 (1991) – 10.1016/0926-2245(91)90014-z
• Nishida, G., Sugiura, M., Yamakita, M., Maschke, B. & Ikeura, R. Boundary detection of variational symmetry breaking using port-representation of conservation laws. Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference 2861–2868 (2009) doi:10.1109/cdc.2009.5400499 – 10.1109/cdc.2009.5400499
• Nishida, G., Maschke, B., and Ikeura, R. (September, January 28). Discretized Hamiltonian Systems with Distributed Energy Flows on Divisible Meshe. Proceedings of IFAC World Congress, Milano, Italy.