Active sensing methods of ionic polymer metal composite (IPMC): Comparative study in frequency domain

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Abstract

Ionic polymer-metal composites (IPMCs) are soft transducers that bend in response to low-voltage input, and generate voltage in response to deformations. Their potential applications include compliant locomotion systems, small-scale robotics, energy harvesting and biomedical instrumentation. The materials are inherently compliant, simple to shape, simple to miniaturize and simple to integrate into a system. Compared to actuation, IPMC sensing has not been intensively studied. The existing reports focus on the sensing phenomenon, but provide insufficient characterization for implementation purposes. This work aims to address this gap by studying and comparing the frequency responses and noise dynamics of different IPMC active sensing signals, i.e. voltage, charge and current. These characteristics are experimentally identified by mechanically exciting IPMC samples, and simultaneously measuring the respective signals and material deformations. The results provide a systematic comparison between different implementations of active sensing with IPMCs, and give insights into their strengths and limitations.

Original languageEnglish
Title of host publication2019 IEEE International Conference on Soft Robotics (RoboSoft 2019 )
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages546-551
ISBN (Electronic)978-1-5386-9260-8
DOIs
Publication statusPublished - 2019
Event2019 IEEE International Conference on Soft Robotics, RoboSoft 2019 - Seoul, Korea, Republic of
Duration: 14 Apr 201918 Apr 2019

Conference

Conference2019 IEEE International Conference on Soft Robotics, RoboSoft 2019
CountryKorea, Republic of
CitySeoul
Period14/04/1918/04/19

Keywords

  • Voltage measurement
  • Current measurement
  • Frequency measurement
  • Electrodes
  • Robot sensing systems
  • Charge measurement

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