System identification and control of ionic polymer metal composite

2003 ◽  
Author(s):  
Nikhil Bhat ◽  
Won-jong Kim
Keyword(s):  
System Identification ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer ◽  
Polymer Metal ◽  
And Control

A cylindrical ionic polymer-metal composite-based robotic catheter platform: modeling, design and control

2014 ◽  
Vol 24 (1) ◽  
pp. 015007 ◽  
Author(s):  
Siul Ruiz ◽  
Benjamin Mead ◽  
Viljar Palmre ◽  
Kwang J Kim ◽  
Woosoon Yim
Keyword(s):  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer ◽  
Polymer Metal ◽  
And Control

scholarly journals 3D-Printing and Machine Learning Control of Soft Ionic Polymer-Metal Composite Actuators

2019 ◽  
Vol 9 (1) ◽  
Author(s):  
James D. Carrico ◽  
Tucker Hermans ◽  
Kwang J. Kim ◽  
Kam K. Leang
Keyword(s):  
Machine Learning ◽  
3D Printing ◽  
Bayesian Optimization ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Printing Process ◽  
Ionic Polymer ◽  
Control Paradigm ◽  
Polymer Metal ◽  
And Control

AbstractThis paper presents a new manufacturing and control paradigm for developing soft ionic polymer-metal composite (IPMC) actuators for soft robotics applications. First, an additive manufacturing method that exploits the fused-filament (3D printing) process is described to overcome challenges with existing methods of creating custom-shaped IPMC actuators. By working with ionomeric precursor material, the 3D-printing process enables the creation of 3D monolithic IPMC devices where ultimately integrated sensors and actuators can be achieved. Second, Bayesian optimization is used as a learning-based control approach to help mitigate complex time-varying dynamic effects in 3D-printed actuators. This approach overcomes the challenges with existing methods where complex models or continuous sensor feedback are needed. The manufacturing and control paradigm is applied to create and control the behavior of example actuators, and subsequently the actuator components are combined to create an example modular reconfigurable IPMC soft crawling robot to demonstrate feasibility. Two hypotheses related to the effectiveness of the machine-learning process are tested. Results show enhancement of actuator performance through machine learning, and the proof-of-concepts can be leveraged for continued advancement of more complex IPMC devices. Emerging challenges are also highlighted.

Fractional-order modeling and control of ionic polymer-metal composite actuator

2019 ◽  
Vol 28 (8) ◽  
pp. 084008 ◽  
Author(s):  
Aleksei Tepljakov ◽  
Veiko Vunder ◽  
Eduard Petlenkov ◽  
S Sunjai Nakshatharan ◽  
Andres Punning ◽  
...  
Keyword(s):  
Fractional Order ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Modeling And Control ◽  
Ionic Polymer ◽  
Composite Actuator ◽  
Polymer Metal ◽  
And Control

A Comprehensive Review of the Biomimetic Applications of Ionic Polymer Metal Composite

2015 ◽  
Vol 23 ◽  
pp. 47-58 ◽  
Author(s):  
Mazhar Ul Haq ◽  
Zhao Gang ◽  
Hafiz Muhammad Waqas
Keyword(s):  
Artificial Muscle ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Comprehensive Review ◽  
Ionic Polymer ◽  
Polymer Metal ◽  
Manufacturing Techniques ◽  
Strong Candidate ◽  
And Performance ◽  
And Control

Bio-inspiration focuses on translating the evolutionary successes of natural species into engineering systems that mimic the geometry, function, and performance of the natural system. In this paper we present a latest comprehensive review of ionic polymer metal composite (IPMC) biomedical and biomimetic applications. IPMC is becoming an increasingly popular material among scholars, engineers and scientists due to its inherent properties of low activation voltage, large bending strain, flexibility, softness, suitable response time which make them a strong candidate to be applied as artificial muscle in biomimetic land and underwater applications. Among the diversity of electro active polymers (EAPs), recently developed IPMCs are good candidates for use in bio-related application because of their biocompatibility. Several recently reported IPMC biomimetic applications have been reported in this paper. The applications of IPMC have been growing due to progression in its manufacturing techniques, development of more accurate response models and control techniques, and recently more sophisticated IPMC actuator applications have been performed. This indicates that the IPMC actuators hold potential for more sophisticated and controlled applications in fields of biomedical and biomimetic. Extensive references are provided for more indepth explanation.

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