Biomimetic Behavior of IPMC Using EMG Signal for Micro Robot

• Autores: R.K. Jain, S. Datta, S. Majumder
• Localización: Mechanics based design of structures and machines, ISSN 1539-7734, Vol. 42, Nº. 3, 2014, págs. 398-417
• Idioma: inglés
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• Resumen

  • This paper presents the biomimetic behavior of an ionic polymer metal composite (IPMC) based artificial finger for micro robot which can be applicable in holding the object. In this work, IPMC based artificial finger is actuated by controlled electromyographic (EMG) signal. The EMG signal is taken from human index finger via EMG sensor. This signal is pre-amplified before transferring to IPMC for achieving the large bending behavior of IPMC. The biomimetic actuation behavior of IPMC is studied by movement of index finger muscles through long tendons. The stability analysis of EMG signal from human index finger is carried out by providing the proportional–integral–derivative (PID) control system. Experimentally, it is observed that IPMC finger can hold the micro component when IPMC finger is activated through EMG via human muscles and an IPMC based micro gripper is demonstrated.