Skip to main content
SpringerLink
Log in

Control of Electro-active Polymer Actuators with Considering Characteristics Changes

  • Chapter
  • First Online:
Soft Actuators

  • 1356 Accesses

Abstract

Electro-active polymers (EAPs) are functional polymeric materials which respond to electrical stimuli with shape change. Since EAPs can be activated by electric field, driving equipment and control system are able to be easily implemented. Simple feedback control methods such as PID control and optimal control with identified model are effective; however, actuator characteristics of EAPs are likely to change depending on environmental conditions such as temperature and humidity or on material fatigue by iterative actuation. Therefore, feedback control methods considering the characteristics changes are desired. In this chapter, we explain two effective control methods for characteristics changes. One is a self-tuning control, which is a type of adaptive control, and another is cellular actuator control method for an integrated actuator. As example cases of the applied results, experimental results of feedback control of ionic polymer-metal composite (IPMC) actuators are demonstrated.

This chapter is based on the report of “Control of high polymer actuators with considering characteristics changes,” in Development of Soft Actuators and Application, Control Technologies for Practical Application, CMC Publishing.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 189.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 249.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 249.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Bar-Cohen Y (ed) (2004) Electroactive polymer (EAP) actuators as artificial muscles: reality, potential, and challenges, 2nd edn. SPIE Press, San Diego

    Google Scholar 

  2. Kim KJ, Tadokoro S (eds) (2007) Electroactive polymers for robotic applications: artificial muscles and sensors. Springer, London

    Google Scholar 

  3. Kamamichi N, Takagi K, Sano S (2014) Modeling and feedback control of electro-active polymer actuators, In: Soft actuators, Chapter 25, pp 327–342. Springer, Tokyo

    Google Scholar 

  4. Oguro K, Kawami Y, Takenaka H (1992) Bending of an ion-conducting polymer film-electrode composite by an electric stimulus at low voltage. J Micromach Soc 5:27–30. (in Japanese)

    Google Scholar 

  5. Brunetto P, Fortuna L, Giannone P (2011) Static and dynamic characterization of the temperature and humidity influence on IPMC actuators. IEEE Trans Instrum Meas 59(4):893–908

    Article  Google Scholar 

  6. Sano S, Takagi K et al (2010) Robust PID force control of IPMC actuators. In: Proceedings of the SPIE, vol 7642, p 76421U

    Google Scholar 

  7. Kang S, Shin J et al (2007) Robust control of ionic polymer-metal composites. Smart Mater Struct 16:2457–2463

    Article  CAS  Google Scholar 

  8. Brufau-Penella J, Tsiakmakis K et al (2008) Model reference adaptive control for an ionic polymer metal composite in underwater applications. Smart Mater Struct 17:045020

    Article  Google Scholar 

  9. Lavu BC, Schoen MP, Mahajan A (2005) Adaptive intelligent control of ionic polymer–metal composites. Smart Mater Struct 14:466–474

    Article  CAS  Google Scholar 

  10. Fang BK, Lin CK, Ju MS (2011) Adaptive control of ionic polymer–metal composite in air and under water using a modified direct self-tuning regulator embedded with integral action. Smart Mater Struct 20:105016

    Article  Google Scholar 

  11. Ueda J, Odhner L, Asada HH (2006) Broadcast feedback of stochastic cellular actuators inspired by biological muscle control. Int J Rob Res 26(11–12):1251–1265

    Google Scholar 

  12. Patete A, Furuta K, Tomizuka M (2008) Self-tuning control based on generalized minimum variance criterion for auto-regressive models. Automatica 44(8):1970–1075

    Article  Google Scholar 

  13. Kamamichi N (2017) Control of high polymer actuators with considering characteristics changes. In: Development of soft actuators and application, control technologies for practical application. CMC Publishing, Tokyo, pp 150–159. (in Japanese)

    Google Scholar 

  14. Inoue Y, Kamamichi N (2014) Force control of ionic polymer-metal composite actuators with cellular actuator method, In: Proceedings of the SPIE, vol 9056, p 905636

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Robotics and Mechatronics, Tokyo Denki University, Tokyo, Japan

    Norihiro Kamamichi

Authors
  1. Norihiro Kamamichi
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Norihiro Kamamichi .

Editor information

Editors and Affiliations

  1. National Institute of Advanced Industrial Science and Technology (AIST), Ikeda, Japan

    Kinji Asaka

  2. Graduate Faculty of Interdisciplinary Research, University of Yamanashi, Kofu, Japan

    Hidenori Okuzaki

Rights and permissions

Reprints and permissions

Copyright information

© 2019 Springer Nature Singapore Pte Ltd.

About this chapter

Check for updates. Verify currency and authenticity via CrossMark

Cite this chapter

Kamamichi, N. (2019). Control of Electro-active Polymer Actuators with Considering Characteristics Changes. In: Asaka, K., Okuzaki, H. (eds) Soft Actuators. Springer, Singapore. https://doi.org/10.1007/978-981-13-6850-9_25

Download citation

Publish with us

Policies and ethics

Search

Navigation