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Electroactive Polymers for Robotic Applications by Kwang Jin Kim, Satoshi Tadokoro (2007)

Electroactive polymers (EAPs) respond to electrical stimulation with large deformations. They are dynamic actuators which have attracted attention from an interdisciplinary audience of engineers and scientists. An enabling EAP technology is emerging which attempts to imitate the properties of natural muscle and which, as a result, can perform a unique function in a variety of biologically-inspired robotics applications. Electroactive Polymers for Robotics Applications covers the fundamental properties, modelling and demonstration of EAPs in robotic applications, focusing particularly on artificial muscles and sensors. Ionic Polymera??Metal Composite Acutators and Dielectric Elastomers are discussed within the book with chapters on their properties and their uses in robotics applications. With its concentration on devices based on EAPs and their uses, Electroactive Polymers for Robotics Applications will be of interest to researchers working within this field as well as to postgraduate students studying robotics or smart materials and structures. Practitioners working in the mechanical, electrical and materials industries will also find this book of value.

1 Active Polymers: An Overview

R. Samatham, K.J. Kim, D. Dogruer, H.R. Choi, M. Konyo, J.D. Madden, Y.

Nakabo, J.-D. Nam, J. Su, S. Tadokoro, W. Yim, M. Yamakita ........................ 1

2 Dielectric Elastomers for Artificial Muscles

J.-D. Nam, H.R. Choi, J.C. Koo, Y.K. Lee, K.J. Kim ...................................... 37

3 Robotic Applications of Artificial Muscle Actuators

H.R. Choi, K. M. Jung, J.C. Koo, J.-D. Nam.................................................... 49

4 Ferroelectric Polymers for Electromechanical Functionality

J. Su ................................................................................................................. 91

5 Polypyrrole Actuators: Properties and Initial Applications

J.D. Madden....................................................................................................121

6 Ionic Polymer-Metal Composite as a New Actuator

and Transducer Material

K.J. Kim..........................................................................................................153

7 Biomimetic Soft Robots Using IPMC

Y. Nakabo, T. Mukai, K. Asaka ..................................................................... 165

8 Robotic Application of IPMC Actuators with Redoping Capability

M. Yamakita, N. Kamamichi, Z.W. Luo, K. Asaka........................................ 199

9 Applications of Ionic Polymer-Metal Composites:

Multiple-DOF Devices Using Soft Actuators and Sensors

M. Konyo, S. Tadokoro, K. Asaka ................................................................. 227

viii Contents

10 Dynamic Modeling of Segmented IPMC Actuator

W. Yim, K.J. Kim........................................................................................... 263

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