Distributed Parameter Systems Modeling and Bio-Mimetic Control of Artificial Muscle Polymer Actuators

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The mathematical models of ionic polymer-metal composites (IPMCs) which are ones of muscle-like soft actuators have been derived. The models were validated by both simulations and experiments. In the developed simulations, the stress relaxation phenomenon and the distributed frequency response of the impedance can be simulated. The models, which are represented by linear state space equations, are relatively easy to carry out simulations or analyses. In future, the applications toward analyses and syntheses of actuators are expected utilizing the proposed model.