Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지
DOI QR코드

DOI QR Code

Bending Motion Control of Electroactive Polymer Actuator-Sensor Hybrid Structure for Finger Exoskeleton

손가락 외골격용 전기활성 고분자 구동체-센서 하이브리드 구조체의 굽힘 동작 제어

  • Han, Dong Gyun (Department of Electronic and Electrical Engineering, Hongik University) ;
  • Song, Dae Seok (Department of Chemical and Biological Engineering, Seoul National University) ;
  • Jho, Jae Young (Department of Chemical and Biological Engineering, Seoul National University) ;
  • Kim, Dong Min (Department of Electronic and Electrical Engineering, Hongik University)
  • 한동균 (홍익대학교 전자.전기공학과) ;
  • 송대석 (서울대학교 화학생물공학부) ;
  • 조재영 (서울대학교 화학생물공학부) ;
  • 김동민 (홍익대학교 전자.전기공학과)
  • Received : 2015.07.29
  • Accepted : 2015.08.31
  • Published : 2015.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

This study was conducted in order to develop a finger exoskeleton system using ionic polymer metal composites (IPMCs) as the actuator and sensor in a hybrid structure. To use the IPMC as an actuator producing large force, a first order transfer function was obtained using results from a block force for DC excitation that applied to two IPMCs of 20mm-width, 50mm-length, and 2.4mm thickness together. After which the validation of 200gf control with anti-windup PI controller was confirmed. A 5mm-width, 50mm-length, 0.6mm-thickness of IPMC was also modeled as a sensor for tip displacement. As a result, the IPMC sensor could been utilized as a trigger role for the actuator. Finally, an IPMC sensor and actuator were installed on the joint of a single DOF exoskeleton in the hybrid structure, and test for the control of 40gf of block force and predefined sequence of motion was performed.

Keywords

References

  1. Lo, H. S. and Xie, S. Q., "Exoskeleton Robots for Upper-Limb Rehabilitation: State of the Art and Future Prospects," Medical Engineering and Physics, Vol. 34, No. 3, pp. 261-268, 2012. https://doi.org/10.1016/j.medengphy.2011.10.004
  2. Dollar, A. M. and Herr, H., "Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art," IEEE Transactions on Robotics, Vol. 24, No. 1, pp. 144-158, 2008. https://doi.org/10.1109/TRO.2008.915453
  3. Richardson, R. C., Levesley, M. C., Brown, M. D., Hawkes, J., Watterson, K., et al., "Control of Ionic Polymer Metal Composites," IEEE/ASME Transactions on Mechatronics, Vol. 8, No. 2, pp. 245-253, 2003. https://doi.org/10.1109/TMECH.2003.812835
  4. Bhat, N. and Kim, W., "Precision Force and Position Control of Ionic Polymer-Metal Composite," Proc. of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, Vol. 218, No. 6, pp. 421-432, 2004. https://doi.org/10.1177/095965180421800601
  5. Hao, L., Sun, Z., Li, Z., Su, Y., and Gao, J., "A Novel Adaptive Force Control Method for IPMC Manipulation," Smart Materials and Structures, Vol. 21, No. 7, Paper No. 075016, 2012.
  6. Aw, K., Fu, L., and McDaid, A., "An IPMC Actuated Robotic Surgery End Effector with Force Sensing," International Journal of Smart and Nano Materials, Vol. 4, No. 4, pp. 246-256, 2013. https://doi.org/10.1080/19475411.2013.862579
  7. Bahramzadeh, Y. and Shahinpoor, M., "Dynamic Curvature Sensing Employing Ionic-Polymer-Metal Composite Sensors," Smart Materials and Structures, Vol. 20, No. 9, Paper No.. 094011, 2011.
  8. Park, K., Lee, B., Kim, H.-M., Choi, K.-S., Hwang, G., et al., IPMC Based Biosensor for the Detection of Biceps Brachii Muscle Movements," International Journal of Electrochemical Science, Vol. 8, pp. 4098-4109, 2013.
  9. Shahinpoor, M. and Kim, K. J., "Ionic Polymer-Metal Composites: I. Fundamentals," Smart Materials and Structures, Vol. 10, No. 4, p. 819, 2001. https://doi.org/10.1088/0964-1726/10/4/327
  10. Jeon, J.-H. and Oh, I.-K., "Introduction to Ionic Polymer-Metal Composite Actuators and Their Applications," J. Korean Soc. Precis. Eng., Vol. 28, No. 11, pp. 1242-1250, 2011.
  11. Nam, D. and Kwan, A., "Ionic Polymer Metal Composite Transducer and Self-Sensing Ability," in: Smart Actuation and Sensing Systems - Recent Advances and Future Challenges, Berselli, G., Vertechy, R., and Vassura, G., (Eds.), InTech, 2012.
  12. Markaroglu, H., Guzelkaya, M., Eksin, I. and Yesil, E., "Tracking Time Adjustment in Back Calculation Anti-Windup Scheme," Proc. of the 20th European Conference on Modeling and Simulation, 2006.