Integrated Actuator-Sensor System on Patterned IPMC Film : Consideration of Electoric Interference

Some types of polymer actuators have recently been focused. These actuators which are soft-structured and operated in wet condition-are so called artificial muscle. IPMC -ionic polymer and metal composite is one of the notable actuator. The IPMC is a film-like composite of metal and ion exchange membrane. It involves bending actuation by the action of internal ion when electric voltage is applied. On the other hand, IPMC has also ability of a sensor e.g. it reads out voltage signal according to bending input. In this paper, we introduce the integrated IPMC actuator-sensor system on a single film and examined the electric interference from actuator phase to sensor phase. Also we have investigated a displacement observer using this integrated system with regarding to the electric interference.