Characterisation of ionic polymer metallic composites as sensors in robotic finger joints Online publication date: Thu, 03-Dec-2009
by X.J. Chew, A. Van den Hurk, K.C. Aw
International Journal of Biomechatronics and Biomedical Robotics (IJBBR), Vol. 1, No. 1, 2009
Abstract: Ionic polymer metallic composite (IPMC) is a smart material that has been proposed for use in applications such as measuring joint motion in a robotic hand or data glove; where minimising size, weight and cost is a top priority. The general sensing characteristics of IPMC have been reported, but at this stage a comprehensive model for the practical application of IPMC sensors does not exist. In this paper, a simple model of the sensor's response to rotary joint motion is proposed, based on experimental findings. The testing apparatus used in this study was designed and built to closely relate to the geometries and movement of a human finger joint. The performance of the model was checked through a series of verification tests over a range of joint motions. The results show that the model is reasonably accurate, with the angle being calculated to within 3% of the actual value over most of the tested range of motions.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Biomechatronics and Biomedical Robotics (IJBBR):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook