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Extra info for Biomimetic Robotic Artificial Muscles

Sample text

Reprinted from [Pugal et al. (2010b)]. The mesh shown in the figure contains 12 element layers in cross section and rather coarse boundary. Nonetheless, the amount of the elements turned out to be 13, 416 and the number of degrees of freedom (nDOF) for three equations were 293, 221. Although nDOF is not too large, assembling the corresponding stiffness matrix is very memory and time-consuming. This is most likely due to the nonlinearity and the Newton iterations that are required to assemble and solve the matrix.

11 The blocking force of Pt and Pt/Pd IPMCs under applied potential of 2 V. The lines represent exponentially decayed data points. Reprinted from [Kim and Kim (2008)]. The relationship between the surface morphology and the blocking force is interesting. The electrodes of Pt IPMCs are porous and contain microcracks, possibly allowing water transportation within the electrode region which in turn generates strains. At the same time, this could also cause leakage of the hydrated cations out of the electrode region and therefore prevent generating of high force.

2 Electrochemical study of the IPMCs Fig. 28 Schematic diagram of experimental setup (WE = working electrode, CE = counter electrode, and RE = reference electrode). Reprinted from [Kim and Kim (2006)]. In order to accurately understand the actuation of IPMCs, the electrochemical performance at the surface electrode was investigated. From the electrochemical analysis of the electrode reactions of IPMCs, measurements such as cyclic voltammetry (CV), chronopotentiometry, chronoamperometry, and electrochemical impedance spectrometry can be recorded.

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