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Proceedings Paper

Hybrid IPMC/PVDF structure for simultaneous actuation and sensing
Author(s): Zheng Chen; Yantao Shen; Jason Malinak; Ning Xi; Xiaobo Tan
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Paper Abstract

Compact sensing methods are desirable for ionic polymer-metal composite (IPMC) actuators in microrobotic and biomedical applications. In this paper a novel sensing scheme for IPMC actuators is proposed by integrating an IPMC with a PVDF (polyvinylidene fluoride) thin film. The problem of feedthrough coupling from the actuation signal to the sensing signal, arising from the proximity of IPMC and PVDF, presents a significant challenge in real-time implementation. To reduce the coupling while minimizing the stiffening effect, the thickness of the insulating layer is properly chosen based on the Young's modulus measurement of the IPMC/PVDF structures. Furthermore, a nonlinear circuit model is proposed to capture the dynamics of the still significant coupling effect, and its parameters are identified through a nonlinear fitting process. A compensation scheme based on this model is then implemented to extract the correct sensing signal. Experimental results show that the developed IPMC/PVDF structure, together with the compensation algorithm, can perform effective, simultaneous actuation and sensing. As a first application, the sensori-actuator has been successfully used for the open-loop micro-injection of living Drosophila embryos.

Paper Details

Date Published: 22 March 2006
PDF: 9 pages
Proc. SPIE 6168, Smart Structures and Materials 2006: Electroactive Polymer Actuators and Devices (EAPAD), 61681L (22 March 2006); doi: 10.1117/12.658675
Show Author Affiliations
Zheng Chen, Michigan State Univ. (United States)
Yantao Shen, Michigan State Univ. (United States)
Jason Malinak, Michigan State Univ. (United States)
Ning Xi, Michigan State Univ. (United States)
Xiaobo Tan, Michigan State Univ. (United States)


Published in SPIE Proceedings Vol. 6168:
Smart Structures and Materials 2006: Electroactive Polymer Actuators and Devices (EAPAD)
Yoseph Bar-Cohen, Editor(s)

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