Ionic Polymer Metallic Composite Transducers for Biomedical Robotics Applications

Ionic Polymer Metallic Composite Transducers for Biomedical Robotics Applications

Title: Ionic Polymer Metallic Composite Transducers for Biomedical Robotics Applications

Authors: Andrew J. McDaid and Kean C. Aw

Publisher: International Frequency Sensor Association (IFSA) Publishing, S. L.

Formats: hardcover (print book) and printable pdf Acrobat (e-book), 246 pages

Price: 90.00 EUR for e-book and 110.00 EUR (shipping cost by a standard mail are included) for print book in hardcover.

Delivery time for print book: 7-17 days dependent on country of destination. Please contact us for priority (5-9 days), ground (3-8 days) and express (3-5 days) delivery options by e-mail

Pubdate: 30 January 2014

ISBN: 978-84-616-7669-9

e-ISBN: 978-84-616-7670-5

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Book Description

This book is written for leading edge engineers and researchers, working with non-traditional or smart material based actuators, to help them develop such real world biomedical applications. Electrical, mechanical, mechatronics and control systems engineers will all benefit from the different techniques described in this book. The book may also serve as a reference for advanced research focused undergraduate and postgraduate students.

Specifically, this book describes a cluster of research which aims to not only advance the state of art through scientific progress in a specific smart material actuator, namely IPMC, but also serve as a guideline to demonstrate the techniques in which many more issues around developing future smart material actuators can be solved. Traditionally actuators are well known and understood and so designing mechanical devices is almost trivial, however developing ‘smart’ devices for complex medical applications requires designing from a fundamental standpoint. This research-design-development process is described in this book.

To this end, six biomedical device prototypes have been developed, by first creating a new physics based, design oriented model of the IPMC actuators themselves, in order to be able to completely simulate the system and prove the design before committing to implementation. Following from this, new controller algorithms (specific for each application) are developed, which use the fundamental IPMC model coupled with the mechanism dynamics model, in order to control the extremely complex, nonlinear and time-varying IPMC system.

Contents:

Preface

Book Synopsis

1. Introduction

1.1. The Need for New Actuator Technologies

1.2. IPMCs: Fundamentals

1.3. Biomedical Robotics

1.4. Objectives and Scope

2. State of the Art: IPMC Modeling, Control and Applications

2.1. Historic Development

2.2. Modeling

2.3. Control

2.4. Applications

2.5. Summary of the State of Art

3. A Comprehensive Scalable Model for the Complete Actuation

3.1. Electro-mechanical IPMC Model

3.2. Parameter Identification and Results

3.3. Model Validation

4. Bio-inspired Compliant IPMC Stepper Motor

4.1. Stepper Motor Mechanical Design

4.2. Model Integration and Simulation

4.3. Experimental Validation

4.4. Extension to Many IPMCs

4.5. Discussion

5. Iterative Feedback Tuning: Fundamental Theory

5.1. Iterative Feedback Tuning Background

5.2. Motivation for Iterative Feedback Tuning with IPMCs

5.3. Formulation of the Iterative Feedback Tuning Algorithm

5.4. Iterative Feedback Tuning Implementation on an IPMC

5.5. Discussion

5.6 Iterative Feedback Tuning Summary

6. Robotic Rotary Finger Joint with Iterative Feedback Tuning

6.1. Mechanism Design

6.2 Gain Scheduled Nonlinear Control

6.3. Experimental IPMC Results

6.4. Mechanism Experiments

6.5. Discussion

6.6. Rotary Finger Joint and Iterative Feedback Tuning Gain Scheduled Summary

7. Microfluidic Pump with Online IFT Control

7.1. Micro-pump Application

7.2. Control and Tuning of Micropump Actuating Mechanism

7.3. Experiments with Pump

7.4. Discussion

7.5. Micropump Summary

8. Cell Microtool/gripper and Micromanipulator with Precise and Robust Control

8.1. Single Cell Micromanipulation

8.2. Micromanipulator System Design

8.3. Micromanipulation Control

8.4. Micromanipulator Simulation and Validation

8.5. Microtool/gripper Experiments and Results

8.6. Micromanipulator Experimental Results

8.7. Discussion

8.8. Micromanipulation Summary

9. Force Compliant Surgical Robotic Tool with IPMC Actuator and Integrated Sensing

9.1 Surgical Tool Design

9.2. Integrated Sensor Design

9.3. Characterizing the Cutting Depth Versus Force

9.4. Control Design

9.5. Surgical Robotic End Effector Summary

10. Conclusions

10.1. Research Outcomes

10.2. Contributions to Current State of the Art

References

Index

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