Approximate field measures for ionic polymer-metal composite Materials and a simplified Order-of-magnitude actuator model

As the field of soft robotics grows and new applications for this technology are discovered, the use of simplified models for the soft actuators found in these devices will be critical. In this study we explore arguments based on the magnitude of field gradients that arise in the ionic polymer-metal composite under large applied voltages and their use for approximating measures of the fields inside the polymer. Using the order-of-magnitude based arguments provides exceptional results for quantifying the field measures of maximum ionic concentration and electric potential within the bulk of the polymer. These measures are leveraged to reconstruct the fields themselves in such a way that the internal bending moments generated inside the actuator may be approximated. With the internal moments, a simplified kinematic model may be used to formulate the steady-state actuator response of the IPMC. This actuator model shows a great deal of accuracy as compared to a full multiphysics model, and we discuss the prospects for future development of this model to account for dynamic actuation.

Performance Enhancement of Ionic Polymer-Metal Composite Actuators with Polyethylene Oxide

Current ionic polymer-metal composite (IPMC) always proves inadequate in terms of large attenuation and short working time in air due to water leakage. To address this problem, a feasible and effective solution was proposed in this study to enhance IPMC performance operating in air by doping polyethylene oxide (PEO) with superior water retention capacity into Nafion membrane. The investigation of physical characteristics of membranes blended with varying PEO contents revealed that PEO/Nafion membrane with 20 wt% PEO exhibited a homogeneous internal structure and a high water uptake ratio. At the same time, influences of PEO contents on electromechanical properties of IPMCs were studied, showing that the IPMCs with 20 wt% PEO presented the largest peak-to-peak displacement, the highest volumetric work density, and prolonged stable working time. It was demonstrated that doping PEO reinforced electromechanical performances and restrained displacement attenuation of the resultant IPMC.

Axial Motion Characterization of a Helical Ionic Polymer Metal Composite Actuator and Its Application in 3-DOF Micro-Parallel Platforms

In this work, a helical ionic polymer metal composite (IPMC) was fabricated by thermal treatment in a mold with helix grooves. The axial actuation behaviors of the helical IPMC actuator were observed, and the electromechanical and electrochemical characteristics were evaluated. The experimental results showed that as the voltage increased and the frequency decreased, the axial displacement, axial force, and electric current of the actuator all increased. Compared with square wave and sinusoidal signals, the actuator exhibited the most satisfactory motion under the direct current (DC) signal. For the electrochemical test, as the scanning rate decreased, the gravimetric specific capacitance increased. Within a suitable voltage range, the actuator was chemically stable. In addition, we coupled the Electrostatics module, Transport of Diluted Species module, and Solid Mechanics module in COMSOL Multiphysics software to model and analyze the helical IPMC actuator. The simulation data obtained were in good agreement with the experimental data. Finally, by using three helical IPMC actuators as driving components, an innovative three-degree-of-freedom (3-DOF) micro-parallel platform was designed, and it could realize a complex coupling movement of pitch, roll, and yaw under the action of an electric field. This platform is expected to be used in micro-assembly, flexible robots, and other fields.

Artificial Intelligence-Assisted Throat Sensor Using Ionic Polymer–Metal Composite (IPMC) Material

Throat sensing has received increasing demands in recent years, especially for oropharyngeal treatment applications. The conventional videofluoroscopy (VFS) approach is limited by either exposing the patient to radiation or incurring expensive costs on sophisticated equipment as well as well-trained speech-language pathologists. Here, we propose a smart and non-invasive throat sensor that can be fabricated using an ionic polymer–metal composite (IPMC) material. Through the cation’s movement inside the IPMC material, the sensor can detect muscle movement at the throat using a self-generated signal. We have further improved the output responses of the sensor by coating it with a corrosive-resistant gold material. A support vector machine algorithm is used to train the sensor in recognizing the pattern of the throat movements, with a high accuracy of 95%. Our proposed throat sensor has revealed its potential to be used as a promising solution for smart healthcare devices, which can benefit many practical applications such as human–machine interactions, sports training, and rehabilitation.

Longitudinal size effects on electrical and actuation behaviors of ionic polymer-metal composite

The structural characteristics of ionic polymer-metal composite (IPMC) were analyzed, and the effects of IPMC length ranging from 1 to 5 cm (with a width of 0.5 cm) were evaluated in terms of electrical parameters and actuation behavior. It has been concluded that the electrical parameters of IPMC materials (including capacitance, electrode resistance in thickness-direction, and internal resistance) decrease, and the bending strain of the setpoint increases as the length increases. The simulation of the current response of IPMC to 2 V DC voltage shows that the error between simulated peak current using 1 cm-IPMC parameters and the measured value is 8.23 times higher than that of 5 cm-IPMC. The strain of the set point on 5 cm-IPMC sample is 5.65 times bigger than that of the 1 cm-IPMC sample.