Bio-applications of ionic polymer metal composite transducers

Abstract

Traditional robotic actuators have advanced performance which in some aspects can surpass that of humans, however they are lacking when it comes to developing devices which are capable of operating together with humans. Bio-inspired transducers, for example ionic polymer metal composites (IPMC), which have similar properties to human tissue and muscle, demonstrate much future promise as candidates for replacing traditional robotic actuators in medical robotics applications. This paper outlines four biomedical robotics applications, an IPMC stepper motor, an assistive glove exoskeleton/prosthetic hand, a surgical robotic tool and a micromanipulation system. These applications have been developed using mechanical design/modelling techniques with IPMC 'artificial muscle' as the actuation system. The systems are designed by first simulating the performance using an IPMC model and dynamic models of the mechanical system; the appropriate advanced adaptive control schemes are then implemented to ensure that the IPMCs operate in the correct manner, robustly over time. This paper serves as an overview of the applications and concludes with some discussion on the future challenges of developing real-world IPMC applications.