Biomedical engineering applications of ionic polymer-metal composites like motion devices for endoscopy, pumps, valves, catheter navigation mechanisms and espinal pressure sensors makes it important to properly model IPMCs for engineering design. Particularly, IPMC continuum models and their electric equivalent circuit representation are critical to a more efficient design of IPMC devices. In t...

This paper presents feedforward, feedback and two-degree-of-freedom control applied to an Ionic Polymer-Metal Composite (IPMC) actuator. It presents a high potential for development of miniature robots and biomedical devices and artificial muscles. We have reported in the last few years that dehydration treatment improves the electrical controllability of bending in Selemion CMV-based IPMCs. We...

IPMC is an electroactive polymer (EAP) that has been the subject of research and development since 1992. The advantages of IPMC in requiring low activation voltage and the induced large bending strain led to its consideration for various potential applications. However, before the benefits of IPMC can be effectively exploited for practical use, the electromechanical behavior of this group of EA...

OBJECTIVES Contrast-enhanced ultrasound (CEUS) cines of focal liver lesions (FLLs) can be quantitatively analyzed to measure tumor perfusion on a pixel-by-pixel basis for diagnostic indication. However, CEUS cines acquired freehand and during free breathing cause nonuniform in-plane and out-of-plane motion from frame to frame. These motions create fluctuations in the time-intensity curves (TICs...

In this paper, model-based precision force and position control of an ionic polymer metal composite (IPMC) is presented. A 23.8 mm×3.4 mm×0.16 mm IPMC strip was used as an actuator in a cantilever configuration. Open-loop force and position responses of an IPMC are not repeatable, and hence closed-loop precision control is of critical importance to ensure proper functioning, repeatability and r...

A novel actuating material, which is lightweight, soft, and capable of generating large flapping motion under electrical stimuli, is highly desirable to build energy-efficient and maneuverable bio-inspired underwater robots. Ionic polymer-metal composites are important category of electroactive polymers, since they can generate large bending motions under low actuation voltages. IPMCs are ideal...

In this paper, robust nonlinear control design to an ionic polymer metal composite (IPMC) with uncertainties and input constraints is studied. The IPMC is a novel smart polymer material, and many potential applications for low mass high displacement actuators in biomedical and robotic systems have been shown. In general, the IPMC has highly nonlinear property, and the control input is subject t...

The important role of the nanostructure of conductive network composite (CNC) layers on the performance of ionic polymer-metal composite (IPMC) transducer has been discussed detailedly. IPMC transducers exhibit both electromechanical and mechanoelectrical behaviors. When subjected to an external electric field, electromechanical behavior of IPMC transducers causes an actuation response which ca...

Position and/or force feedback is critical in ensuring precise and safe operation of ionic polymer–metal composite (IPMC) actuators in io/micromanipulation. In this paper the design of an integrated sensory actuator is presented, where polyvinylidene fluoride (PVDF) films re used to provide simultaneous feedback of bending and force outputs of the IPMC actuator. The design adopts differential c...

This paper presents the behavior of two finger based micro gripper which is made of Ionic Polymer Metal Composite (IPMC), an Electro Active Polymer (EAP). An IPMC shows great potential as high‐ displacement and light weight actuator. Low mass force generation capability is utilized for micro gripping in micro assembly. IPMC responds to low voltage in the...