An ionic polymer-metal composite (IPMC) is an electroactive material that bends when electrically stimulated and generates electric current when bent. In this paper we investigate a coupled IPMC sensor-actuator using both the sensing and actuation properties of these electroactive materials. We describe the design of a coupled IPMC sensor-actuator, the feedback controller and the experimental evaluation of the system. Experimental results show the feasibility of closed-loop control of IPMC actuator with a mechanically coupled IPMC sensor.

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