Development and control of cellular actuators with ion-conductive polymers

• Project/Area Number: 26420209
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Tokyo Denki University
• Principal Investigator: Kamamichi Norihiro 東京電機大学, 未来科学部, 准教授 (70435642)
• Research Collaborator: INOUE Yushiro ; KURASHINA Shiho ; KIMURA Keishiro
• Project Period (FY): 2014-04-01 – 2017-03-31
• Project Status: Completed (Fiscal Year 2016)
• Budget Amount: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000); Fiscal Year 2016: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000); Fiscal Year 2015: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000); Fiscal Year 2014: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
• Keywords: 高分子アクチュエータ / 機能性高分子 / ソフトアクチュエータ / 制御 / ソフトマテリアル

Outline of Final Research Achievements

The purpose of the research is to control ionic polymer-metal composite (IPMC) actuators with considering the individual difference and variations of response characteristics. A cellular actuator concept and its control method were applied to the IPMC integrated actuator devices which consist multiple IPMC segments with parallel/series connections. The validity of the applied methods was investigated through experiments.

Research Products

• [Presentation] Experimental Verification of Displacement Control on Integrated Ionic Polymer-Metal Composite Actuators with Stochastic On/Off Controller (2017)
  • Author(s): K. Kimura and N. Kamamichi
  • Organizer: SPIE Smart Structures/NDE
  • Place of Presentation: Portland Marriott Downtown Waterfront Hotel (Portland, USA)
  • Year and Date: 2017-03-25
  • Int'l Joint Research
• [Presentation] Force Control of Integrated Ionic Polymer-metal Composite Actuators with Stochastic ON/OFF Controller (2016)
  • Author(s): K. Kimura and N. Kamamichi
  • Organizer: 10th Asian-Australasian Conference on Composite Materials
  • Place of Presentation: Convention Hall of BEXCO (Busan, South Korea)
  • Year and Date: 2016-10-16
  • Int'l Joint Research
• [Presentation] 確率的ON/OFF制御による集積化IPMC アクチュエータの力制御 (2016)
  • Author(s): 木村佳史郎, 釜道紀浩
  • Organizer: 日本機械学会2016年度年次大会
  • Place of Presentation: 九州大学（福岡県福岡市）
  • Year and Date: 2016-09-11
• [Presentation] IPMCセンサの応答特性に対する温度・湿度の影響 (2016)
  • Author(s): 曽我賢志, 釜道紀浩
  • Organizer: 第34 回日本ロボット学会学術講演会
  • Place of Presentation: 山形大学（山形県山形市）
  • Year and Date: 2016-09-07
• [Presentation] Experimental Verification of a Tactile Sensor Based on Ionic Polymer-Metal Composites (2015)
  • Author(s): T. Nagai, N. Kamamichi
  • Organizer: 14th IEEE SENSORS Conference
  • Place of Presentation: Convention Hall of BEXCO (Busan, South Korea)
  • Year and Date: 2015-11-01
  • Int'l Joint Research
• [Presentation] セルフチューニング制御によるIPMCアクチュエータの変位制御 (2014)
  • Author(s): 倉科志帆, 釜道紀浩
  • Organizer: 第15 回計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 東京ビックサイト（東京都江東区）
  • Year and Date: 2014-12-15 – 2014-12-17
• [Book] 実用化に向けたソフトアクチュエータの開発と応用・制御技術(開発研究編2章「特性変動を考慮した高分子アクチュエータの制御」分担執筆) (2017)
  • Author(s): 釜道紀浩
  • Total Pages: 238
  • Publisher: シーエムシー出版