パターニングしたIPMCの電気干渉を考慮した応答モデリング

抄録

An ionic polymer-metal composite (IPMC) actuator is an electric driven soft actuator that deforms in response to voltage. It is produced by chemically plating gold on an ion-exchange membrane. Because of their flexible motion, IPMCs are attracting attention for application in the medical field and biomimetic robots. One of the characteristics of IPMC is high formability as it is possible to configure multiple actuators and sensors in a single device by cutting and dividing the electrodes on the surface, which is called patterning. Previous works found that patterning causes interference of the input signal of the IPMC with other separated electrodes. In this study, we aim to realize precise displacement control of the patterned IPMC actuator by considering electrical interference of driving signals. In this paper, we fabricated the patterned IPMC and analyzed three types of frequency responses of electrical interference, displacement, and sensor signal.