Control of IPMC-based Artificial Muscle for Myoelectric Hand Prosthesis

This paper proposes an ionic polymer metal composite (IPMC) based artificial muscle to be applicable to the myoelectric hand prosthesis. The IPMC consists of a thin polymer membrane with metal electrodes plated chemically on both faces, and it is widely applying to the artificial muscle because it is driven by relatively low input voltage. The control commands for the IPMC-based artificial muscle is given by electromyographic (EMG) signals obtained from human forearm. By an intended contraction of the human flexor carpi ulnaris and extensor carpi ulnaris muscles, we investigated the actuation behavior of the IPMC-based artificial muscle. To obtain higher actuation force of the IPMC, the single layered as thick as 800 [mum] or multi-layered IPMC of which each layer can be as thick as 178 [mum] are prepared. As a result, the bending force was up to the maximum 12[gf| from 1[gf] by actuating the single layered IPMC with 178 [mum], but the bending displacement was reduced to 6[mm] from 30[mm]. The experimental results using an implemented IPMC control system show a possibility and a usability of the bio-mimetic artificial muscle