Inversion-Based Feedforward Control of Polypyrrole Trilayer Bender Actuators

Feedforward Control of Magnetically Levitated Planar Actuators

The present report summarizes the work conducted during the internship on Feedforward Control of the Magnetic Levitation Setup. Different feedforward strategies, specifically tailored for this setup, are developed and reviewed. These feedforward methods explicitly take the intrinsic position-dependent behavior of the magnetic levitation setup into account. Additionally, closed-loop stability of...

Piezoelectric Composites as Bender Actuators

Lead Zirconate Titanate, PZT, layered into a composite with different materials, produces pre-stressed, curved, devices capable of enhanced displacement. This study focuses on Thunder and Lipca which are built using different combinations of constituent materials. Thunder devices consist of layers of aluminum, PZT, and stainless steel bonded with a hot-melt adhesive. Lipca devices consist of ca...

4th World Congress on Biomimetic, Artificial Muscles and Nano-Bio Life Time of Trilayer Actuators Based on Polypyrrole

Artificial muscles based on polypyrrole films doped with ClO4 had demonstrated movements up to 180 degrees in LiClO4 aqueous solution which are controlled through the applied electrical current. Movements of this type are achieved with currents from 10 mA. The current density and its polarity control the rate and the movement ́s direction of the artificial muscle[1, 2]. Besides, bilayer and tril...

Polypyrrole Soft Actuators

Soft, flexible micromanipulators comprising polypyrrole trilayer microactuators

Within the areas of cell biology, biomedicine and minimal invasive surgery, there is a need for soft, flexible and dextrous biocompatible manipulators for handling biological objects, such as single cells and tissues. Present day technologies are based on simple suction using micropipettes for grasping objects. The micropipettes lack the possibility of accurate force control, nor are they soft ...