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Ionic Polymer-Metal Composite (IPMC) Artificial Muscles in Underwater Environments: Review of Actuation, Sensing, Controls, and Applications to Soft Robotics

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Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems

Abstract

In the field of soft robotics, ionic polymer-metal composites (IPMCs) have shown great promise in the advancement of bioinspired actuators and sensors. Their affinity for use in aqueous environments, as well as their low-driving voltages (<5 V), large deformation performance, and capacity for miniaturization, makes them excellent candidates for biomimetic soft robotic systems. Scientists and researchers have explored the many possibilities of using IPMCs in underwater applications as actuators and sensors. This includes the development of artificial fins and other biocomponents such as cilia arrays, artificial skin, and sensing systems akin to fish lateral lines. Herein, the current advances and implementation of the IPMC-based artificial muscles are discussed. This includes an overview of the material and fabrication techniques, examples of bioinspired actuator and sensor designs, utilization of shape memory properties and segmented electrodes for more complex actuation, as well as the application and performance of fabricated devices in underwater environments.

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Notes

  1. 1.

    KJK thanks Promode R. Bandyopadhyay for suggesting this experiment.

  2. 2.

    We thank Promode R. Bandyopadhyay for suggesting this experiment.

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Acknowledgements

The authors gratefully acknowledge support from the Office of Naval Research, Grant Number N000141612356. Also, KJK acknowledges the help from Drs. Viljar Palmre, Kam Keang, and Tyler Stalbaum conducting various underwater experiments using IPMCs.

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Authors and Affiliations

  1. Active Materials and Smart Living Laboratory, Mechanical Engineering Department, University of Nevada, Las Vegas, NV, USA

    Nazanin Minaian, Zakai J. Olsen & Kwang J. Kim

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  1. Nazanin Minaian
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  2. Zakai J. Olsen
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  3. Kwang J. Kim
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Correspondence to Kwang J. Kim .

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  1. Department of Aerospace Engineering and Institute for Systems Research, University of Maryland, College Park, MD, USA

    Derek A. Paley

  2. Department of Aerospace Engineering, University of Maryland, College Park, MD, USA

    Norman M. Wereley

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Minaian, N., Olsen, Z.J., Kim, K.J. (2021). Ionic Polymer-Metal Composite (IPMC) Artificial Muscles in Underwater Environments: Review of Actuation, Sensing, Controls, and Applications to Soft Robotics. In: Paley, D.A., Wereley, N.M. (eds) Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems. Springer, Cham. https://doi.org/10.1007/978-3-030-50476-2_6

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