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In this work, we explore a promising electroactive polymer (EAP), called ionic polymer-metal composite (IPMC) as a material to use as a multi degree of freedom actuator. Configuration of our interest is a cylindrical IPMC with 2-DOF electromechanical actuation capability. The desired functionality was achieved by fabricating unique inter-digitated(More)
Dielectric elastomers with low elastic stiffness and high dielectric constant are smart materials that produce large strains (up to 300%) and belong to the group of electroactive polymers. Dielectric elastomer actuators are made from films of dielectric elastomers coated on both sides with compliant electrode material. Poly(3,4-ethylenedioxythiophene)(More)
Ionic polymer-metal composites (IPMCs) have recently received tremendous interest as soft biomimetic actuators and sensors in various bioengineering and human affinity applications, such as artificial muscles and actuators, aquatic propulsors, robotic end-effectors, and active catheters. Main challenges in developing biomimetic actuators are the attainment(More)
We are concerned with a model of ionic polymer-metal composite (IPMC) materials that consists of a coupled system of the Poisson and Nernst-Planck equations, discretized by means of the finite element method (FEM). We show that due to the transient character of the problem it is efficient to use adaptive algorithms that are capable of changing the mesh(More)
Ionic polymer-metal composites (IPMCs) are soft electroactive materials with actuating and sensing capabilities that have potential applications in biomedicine as active catheters and surgical probes. In this study, we design and develop a cylindrical IPMC with multiple degrees-of-freedom motion capability for application as a robotic catheter platform. The(More)
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