Ionic Conducting Polymer Film Research Articles

Development of a biomimetic underwater microrobot for a father–son robot system

Conventional underwater intervention tasks are performed by underwater vehicles equipped with rigid multi-link arms. However, the movements of conventional mechanical arms exert reactive force on the vehicle platform due to their enormous bulk. Additionally, they cannot be used for small object recovery. In this paper, an ionic conducting polymer film (ICPF) actuator-based crayfish-inspired microrobot is designed and developed as a son robot for object recovery, which is connected to the amphibious father robot by copper wires. The crayfish-like son robot is used as the mechanical arm of the father---son robot system, which can grasp the small object especially in restricted spaces. The crayfish-inspired son robot actuated by ten ICPF actuators can realize underwater basic motions. The father robot can emit the son robot for object recovery. A proximity sensor is mounted in front of the microrobot between the two ICPF hands to implement the autonomous grasping motion. And we designed a blue LED-based underwater optical communication system to realize the communication between the father robot and the son robot for microrobot recovery. We carried out the experiments to confirm the basic operations of the microrobot, evaluate the performance of the communication system, and verify the blue LED tracking mechanism for microrobot recovery.

Movement Analysis of Micro-Robot’s Fin Actuated by ICPF

ICPF (Ionic Conducting Polymer Film) is a kind of smart film and has the characteristics of flexibility, good response and being driven by a low voltage. In order to illuminate the deformation dynamics of ICPF, the curvature of a thin strip ICPF under stepwise application of electric field is formulated according to Flory’s gel swell theory. The interplay mechanism of the deformation of gel, permeation of water and the transport of ions is described. A novel fish-like flexible micro-robot whose fin is actuated by ICPF is presented. According to the Pseudo-Rigid-Body-Dynamic-Model (PRBDM) the frequency analysis of the micro-robot is investigated, and then, the relation between the structure parameters and the natural frequency of the fin is theoretically derived and some analysis and experiment graphs about the fin’s angle displacement and angle velocity are performed.

Nonlinear Analysis on Movement of Micro-Robot Actuated by ICPF

A novel fish-like flexible micro-robot actuated by ICPF (Ionic Conducting Polymer Film) is presented in the paper. In order to improve the controlling reliability and feasibility of the robot’s movement, we establish the dynamic model of the micro-robot by applying kutta-joukowski theorem and illuminate the nonlinear characteristics on a y direction phase and displacement of the robot’s movement. Some simulation and experiment graphs about the y direction phase and displacement of the robot are performed.

Timing Effection Analysis of Micro-Robot Actuated by ICPF

A novel fish-like flexible micro-robot actuated by ICPF (Ionic Conducting Polymer Film) is presented in the paper. In order to improve the controlling reliability and feasibility of the robot’s movement, we establish the dynamic model of the micro-robot by applying kutta-joukowski theorem and illuminate the nonlinear characteristics on a x direction phase and displacement of the robot’s movement. Some simulation and experiment graphs about the x direction phase and displacement of the robot are performed.

Motion-control analysis of ICPF-actuated underwater biomimetic microrobots

This paper introduces the development of biomimetic underwater microrobots consisting of AVR microcontroller, an infrared ray communication system, and ionic conducting polymer film (ICPF) actuators. We use AVR ATmega16 as the control unit and an infrared ray receiver to provide feedback to the AVR unit. The spiral particle pathway searching approach is developed to search for particles. We also use MATLAB and OpenGL to simulate the path planning and optimisation according to the particle swarm optimisation algorithm. We implemented and demonstrated wireless control over the trajectory of individual microrobot, and extended this to three units in an expect formation.

Analysis on Dynamics Characteristics of ICPF for Micro-Robot

ICPF (Ionic Conducting Polymer Film) is a kind of smart film and has the characteristics of flexibility, good response and being driven by a low voltage. In order to illuminate the deformation dynamics of ICPF, the curvature of a thin strip ICPF under stepwise application of electric field is formulated according to Flory’s gel swell theory. The interplay mechanism of the deformation of gel, permeation of water and the transport of ions is described. A novel fish-like flexible micro-robot whose tail is actuated by ICPF is presented. According to the Pseudo-Rigid-Body-Dynamic-Model (PRBDM) the frequency analysis of the micro-robot is investigated, and then, the relation between the structure parameters and the natural frequency of the tail is theoretically derived and some analysis and experiment graphs about the angle displacement of the tail are performed.

Simulation model of the fractal patterns in ionic conducting polymer films

AbstractNormally polymer electrolyte membranes are prepared and studied for applications in electrochemical devices. In this work, polymer electrolyte membranes have been used as the media to culture fractals. In order to simulate the growth patterns and stages of the fractals, a model has been identified based on the Brownian motion theory. A computer coding has been developed for the model to simulate and visualize the fractal growth. This computer program has been successful in simulating the growth of the fractal and in calculating the fractal dimension of each of the simulated fractal patterns. The fractal dimensions of the simulated fractals are comparable with the values obtained in the original fractals observed in the polymer electrolyte membrane. This indicates that the model developed in the present work is within acceptable conformity with the original fractal.

Development of an underwater biomimetic microrobot with compact structure and flexible locomotion

Compact structure and flexibility is normally considered as a pair of incompatible characteristics for legged microrobots. Most robots choose complex structure of multi-joint legs to attain the flexibility, while some microrobots have poor flexibility for miniaturization. To attain a microrobot with both compact structure and flexible locomotion, we designed a novel type of biomimetic locomotion employing ionic conducting polymer film (ICPF) actuators as one-DOF legs. We developed several prototype microrobots using this locomotion. In this paper, a microrobot using this biomimetic locomotion, named Walker-3, utilizing six ICPF actuators with two-DOF motion is developed. It is 30 mm in length, 55 mm in width and 8 mm in height (in static state). Experimental results indicate that Walker-3 can attain 6 mm/s of walking speed and 7.1 deg/s of rotating speed and climb on a 30° ascent at a speed of 0.5 mm/s with control signal of 10 V, 0.5 Hz. It is also suitable for uncertain terrain, such as climbing on a stairs less than 2 mm high and striding over a pit less than 5 mm wide. It has better flexibility, balance and load ability than its predecessors. We compared it with some legged microrobots and the result shows a microrobot with this biomimetic locomotion can have both compact structure and multi DOF locomotion.

A new type of hybrid fish-like microrobot

In order to develop a new type of fish-like microrobot with swimming, walking, and floating motions, in our past research, we developed a hybrid microrobot actuated by ionic conducting polymer film (ICPF) actuators. But the microrobot had some problems in walking and floating motions. In this paper, we propose a concept of hybrid microrobot (see Fig. 1). The microrobot is actuated by a pair of caudal fins, a base with legs and an array of artificial swim bladders. We have developed a prototype of the base with legs and one artificial swim bladder, respectively, and carried out experiments for evaluating their characteristics. Experimental results show the base with legs can realize walking speed of 6 mm/s and rotating speed of 7.1 degrees/s respectively, and the prototype of the artificial swim bladder has a maximum floatage of 2.6 mN. The experimental results also indicate that the microrobot has some advantages, such as walking motion with 2 degrees of freedom, the walking ability on rough surface (sand paper), the controllable floatage, etc. This kind of fish-like microrobot is expected for industrial and medical applications.

Development of ICPF actuated underwater microrobots

It is our target to develop underwater microrobots for medical and industrial applications. This kind of underwater microrobots should have the characteristics of flexibility,good response and safety. Its structure should be simple and it can be driven by low voltage and produces no pollution or noise. The low actuating voltage and quick bending responses of Ionic Conducting Polymer Film (ICPF) are considered very useful and attractive for constructing various types of actuators and sensors. In this paper, we will first study the characteristics of the ICPF actuator used in underwater microrobot to realize swimming and walking. Then, we propose a new prototype model of underwater swimming microrobot utilizing only one piece of ICPF as the servo actuator. Through theoretic analysis, the motion mechanism of the microrobot is illustrated. It can swim forward and vertically. The relationships between moving speed and signal voltage amplitude and signal frequency is obtained after experimental study. Lastly, we present a novel underwater crab-like walking microrobot named crabliker-1.It has eight legs, and each leg is made up of two pieces of ICPF. Three sample processes of the octopod gait are proposed with a new analyzing method. The experimental results indicate that the crab-like underwater microrobot can perform transverse and rotation movement when the legs of the crab collaborate.

Development of Underwater Microrobot with Biomimetic Locomotion

Microrobots have powerful applications in biomedical and naval fields. They should have a compact structure, be easy to manufacture, have efficient locomotion, be driven by low voltage and have a simple control system. To meet these purposes, inspired by the leg of stick insects, we designed a novel type of microrobot with biomimetic locomotion with 1-DOF (degree of freedom) legs. The locomotion includes two ionic conducting polymer film (ICPF) actuators to realize the 2-DOF motion. We developed several microrobots with this locomotion. Firstly, we review a microrobot, named Walker-1, with 1-DOF motion. And then a new microrobot, named Walker-2, utilizing six ICPF actuators, with 3-DOF motion is introduced. It is 47 mm in diameter and 8 mm in height (in static state). It has 0.61 g of dried weight. We compared the two microrobot prototypes, and the result shows that Walker-2 has some advantages, such as more flexible moving motion, good balance, less water resistance, more load-carrying ability and so on. We also compared it with some insect-inspired microrobots and some microrobots with 1-DOF legs, and the result shows that a microrobot with this novel type of locomotion has some advantages. Its structure has fewer actuators and joints, a simpler control system and is compact. The ICPF actuator decides that it can be driven by low voltage (less than 5 V) and move in water. A microrobot with this locomotion has powerful applications in biomedical and naval fields.

Development of underwater microrobot with biomimetic locomotion

Microrobots have powerful applications in biomedical and naval fields. They should have a compact structure, be easy to manufacture, have efficient locomotion, be driven by low voltage and have a simple control system. To meet these purposes, inspired by the leg of stick insects, we designed a novel type of microrobot with biomimetic locomotion with 1-DOF (degree of freedom) legs. The locomotion includes two ionic conducting polymer film (ICPF) actuators to realize the 2-DOF motion. We developed several microrobots with this locomotion. Firstly, we review a microrobot, named Walker-1, with 1-DOF motion. And then a new microrobot, named Walker-2, utilizing six ICPF actuators, with 3-DOF motion is introduced. It is 47 mm in diameter and 8 mm in height (in static state). It has 0.61 g of dried weight. We compared the two microrobot prototypes, and the result shows that Walker-2 has some advantages, such as more flexible moving motion, good balance, less water resistance, more load-carrying ability and so on. We also compared it with some insect-inspired microrobots and some microrobots with 1-DOF legs, and the result shows that a microrobot with this novel type of locomotion has some advantages. Its structure has fewer actuators and joints, a simpler control system and is compact. The ICPF actuator decides that it can be driven by low voltage (less than 5 V) and move in water. A microrobot with this locomotion has powerful applications in biomedical and naval fields.

Polymer MEMS Actuators for Underwater Micromanipulation

Conventional MEMS actuators are not suitable for underwater applications such as cell grasping due to two main reasons: 1) their required actuation voltage are typically higher than 2 V, which would cause electrolysis in water and 2) they have small displacement/deflection due to their inherent driving principles. In this paper, three-different types of novel polymer-based MEMS underwater actuators developed in our laboratory are discussed: 1) ionic conducting polymer films (ICPF) actuator, which actuates by stress gradient induced by ionic movement due to electric field; 2) parylene thermal actuator, which actuates due to the induced stress gradient across a structure made of different layers of materials with different thermal expansion coefficients; and 3) polyaniline (PANI) actuator, which actuates due to its volumetric change caused by a reversible electrochemical oxidation-reduction (redox) reaction. All these polymer micro actuators can be actuated underwater with large deflections and require less power input than conventional MEMS actuators. The experimental results from characterizing these prototype actuators are presented in this paper.

A new type of micropump driven by a low electric voltage

In this paper, we propose a new prototype model of a micro pump using ICPF (Ionic Conducting Polymer Film) actuator as the servo actuator. This micro pump consists of two active oneway valves that make use of the same ICPF actuator. The overall size of this micro pump prototype is 12mm in diameter and 20 mm in length. The actuating mechanism is as follows: (1) The ICPF actuator as the diaphragm is bent into anode side by application of electricity. Then the volume of the pump chamber increases, resulting in the inflow of liquid from the inlet to the chamber. (2) By changing the current direction, the volume of the pump chamber decreases, resulting in the liquid flow from the chamber to the outlet. (3) The ICPF actuator is put on a sine voltage, the micro pump provides liquid flow from the inlet to the outlet continuously. Characteristic of the micro pump is measured. The experimental results indicate that the micro pump has the satisfactory responses.

A new type of fish-like underwater microrobot

This paper presents a new prototype model of an underwater fish-like microrobot utilizing ionic conducting polymer film (ICPF) actuator as the servo actuator to realize swimming motion with three degrees of freedom. A biomimetic fish-like microrobot using ICPF actuator as a propulsion tail fin and a buoyancy adjuster for the swimming structure in water or aqueous medium is developed. The overall size of the underwater prototype fish shaped microrobot is 45 mm in length, 10 mm in width, and 4 mm in thickness. It has two tails with a fin driven respectively, a body posture adjuster, and a buoyancy adjuster. The moving characteristic of the underwater microrobot is measured by changing the frequency of input voltage from 0.1-5 Hz in water and the amplitude of input voltage from 0.5-10 V. The experimental results indicate that changing the amplitude and frequency of input voltage can control the swimming speed of proposed underwater microrobot.

能動カテーテルシステムに関する研究 多自由度カテーテルの構造，実験結果と動作特性の評価

In this paper, we propose two prototype models of micro active catheter (MAC) that has two bending degrees of freedom. One consists of 3 active units with SMA wires in lumina as the servo actuator. The other is active guide wire catheter with ICPF (Ionic Conducting Polymer Film) on its front end as the servo actuator. The bending characteristics of the MAC have been measured by application of electricity in physiological saline solution. We also modeled these MAC for characteristic evaluation (Bending characteristic, Electric characteristic) . Experimental results show that the models of the active catheter are reasonable. By using simulators (whose conditions are similar to those of a blood vessel of human brain), we also carried out simulation experiments “in vitro” and “in vivo”. The experimental results indicate that the proposed micro catheters work properly, and they can effectively improve the operability of traditional procedures for intravascular neurosurgery.

Direct-mode scanning electrochemical microscopy with three electrodes: application to fluorescent micropattern formation

Direct-mode scanning electrochemical microscopy with a three-electrode system, which enables the electrochemical potential of the microscope tip to be defined with respect to a reference electrode, has been demonstrated for the first time and used to study fluorescent micropattern formation in fluorescent dye (methylviologen) + ionic conducting polymer film systems. Fluorescence micropatterns were prepared on the film by scanning a platinum or tungsten tip at a potential more negative than − 0.9 or − 1.2 (vs. Ag/AgCl) respectively. The reaction mechanism of the pattern formation was elucidated on the basis of the tip electrode potential and fluorescence characteristics of the films.