Challenges and Perspectives in Control of Ionic Polymer-Metal Composite (IPMC) Actuators: A Survey

Ionic polymer-metal composites (IPMC) are electroactive polymers expected to be used as soft actuators in various practical areas like robotics, biomedicine and micro manipulation systems. Though IPMC actuators have many advantages (lightweight, noiseless operation, low operating voltage, possibilit...

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Bibliographic Details
Published in:IEEE access 2020, Vol.8, p.121059-121073
Main Authors: Aabloo, Alvo, Belikov, Juri, Kaparin, Vadim, Kotta, Ulle
Format: Article
Language:English
Subjects:
Actuators
Adaptation models
Control methods
electroactive polymer (EAP)
Electroactive polymers
Hysteresis
ionic polymer-metal composite (IPMC)
Miniaturization
PI control
Polymer matrix composites
Polymers
Robot sensing systems
Robotics
smart material
soft actuator
Temperature sensors
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Summary:Ionic polymer-metal composites (IPMC) are electroactive polymers expected to be used as soft actuators in various practical areas like robotics, biomedicine and micro manipulation systems. Though IPMC actuators have many advantages (lightweight, noiseless operation, low operating voltage, possibility of miniaturization), some of their inherent properties (back-relaxation, hysteresis, high sensitivity to ambient conditions, aging) make their precise and reliable control a challenging task. This paper presents a survey of control methods for IPMC actuators. A systematic overview of the techniques, addressing the main challenges in IPMC control, is provided.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2020.3007020