Mitigating IPMC back relaxation through feedforward and feedback control of patterned electrodes

With low driving voltage (< 5 V) and the ability to be operated in aqueous environments, ionic polymer-metal composite (IPMC) materials are quickly gaining attention for use in many applications including soft bio-inspired actuators and sensors. There are, however, drawbacks to IPMC actuators, including the 'back relaxation' effect. Specifically, when subjected to an excessively slow input, the IPMC actuator will slowly relax back toward its original position. There is debate over the physical mechanism of back relaxation, although one prevalent theory describes an initial current, caused by the electrostatic forces of the charging electrodes, which drives water molecules across the ion exchange membrane and deforms the IPMC. Once the electrodes are fully charged, however, the dominant element of the motion is the osmotic pressure, driving the water molecules back to equilibrium, thus causing back relaxation. A new method to mitigate back relaxation is proposed, taking advantage of controlled activation of patterned (sectored) electrodes on the IPMC. By actuating sectors in opposing directions, back relaxation can be effectively canceled out. An integrated feedforward and feedback controller is employed based on this concept, and is shown to minimize back relaxation, while reducing the input voltage required, as compared to the case of the non-sectored IPMC. Experimental results show nearly an order of magnitude reduction in the tracking error compared to the uncompensated case, and that the IPMC's position can be maintained over a period of 60 and 1200 s with minimal evidence of back relaxation.