{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:32:28Z","timestamp":1760243548694,"version":"build-2065373602"},"reference-count":25,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2012,2,29]],"date-time":"2012-02-29T00:00:00Z","timestamp":1330473600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Micromachines"],"abstract":"<jats:p>This paper presents an integrated sensor\/actuator device with multi-input and multi-output designed on the basis of a standard control representation called a distributed port-Hamiltonian system. The device is made from soft material called an ionic polymer-metal composite (IPMC). The IPMC consists of a base film of a polyelectrolyte gel and a double layer of plated metal electrodes. The electrodes of the experimental IPMC are sectioned, and it is implemented as a control system with four pairs of inputs\/outputs. We stabilize the system, and detect changes in dynamics by using the control representation.<\/jats:p>","DOI":"10.3390\/mi3010126","type":"journal-article","created":{"date-parts":[[2012,2,29]],"date-time":"2012-02-29T06:29:01Z","timestamp":1330496941000},"page":"126-136","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Multi-Input Multi-Output Integrated Ionic Polymer-Metal Composite for Energy Controls"],"prefix":"10.3390","volume":"3","author":[{"given":"Gou","family":"Nishida","sequence":"first","affiliation":[{"name":"RIKEN-TRI Collaboration Center for Human-Interactive Robot Research, Advanced Science Institute, RIKEN, 2271-130 Anagahora, Shimoshidami, Moriyama-ku, Nagoya, Aichi, 463-0003, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Motonobu","family":"Sugiura","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 Oookayama, Meguro, Tokyo, 152-8552, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Masaki","family":"Yamakita","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 Oookayama, Meguro, Tokyo, 152-8552, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bernhard","family":"Maschke","sequence":"additional","affiliation":[{"name":"Universit\u00e9 de Lyon, Lyon, F-69003, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ryojun","family":"Ikeura","sequence":"additional","affiliation":[{"name":"RIKEN-TRI Collaboration Center for Human-Interactive Robot Research, Advanced Science Institute, RIKEN, 2271-130 Anagahora, Shimoshidami, Moriyama-ku, Nagoya, Aichi, 463-0003, Japan"},{"name":"Department of Mechanical Engineering, Mie University, Kamihama 1515, Tsu, Mie, 514-8507, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2012,2,29]]},"reference":[{"unstructured":"Cohen Y., B. (2004). Electroactive Polymer (EAP) Actuators as Artificial Muscles: Reality, Potential, and Challenges, SPIE Press. [2nd].","key":"ref_1"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"819","DOI":"10.1088\/0964-1726\/10\/4\/327","article-title":"Ionic polymer-metal composites: I. Fundamental","volume":"10","author":"Shahinpoor","year":"2001","journal-title":"Smart Mater. Struct."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1177\/1045389X05046310","article-title":"Bandwidth characterization in themicropositioning of ionic polymer actuators","volume":"16","author":"Kothera","year":"2005","journal-title":"J. Intell. Mater. Syst. Struct."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"143","DOI":"10.1106\/VJ5T-9JML-BHV8-M2CG","article-title":"Feedback control of the bending response of ionic polymer actuators","volume":"12","author":"Mallavarapu","year":"2001","journal-title":"J. Intell. Mater. Syst. Struct."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"1233","DOI":"10.1016\/S0013-4686(00)00695-2","article-title":"The effects of counter ions on characterization and performance of a solid polymer electrolyte actuator","volume":"46","author":"Onishi","year":"2001","journal-title":"Electrochim. Acta"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"1349","DOI":"10.1021\/ma047944j","article-title":"Electrostress diffusion coupling model for polyelectrolyte gels","volume":"38","author":"Yamaue","year":"2005","journal-title":"Macromolecules"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1016\/j.sna.2004.03.043","article-title":"Ionic liquids as stable solvents for ionic polymer transducers","volume":"115","author":"Bennett","year":"2004","journal-title":"Sens. Actuat. A"},{"doi-asserted-by":"crossref","unstructured":"Asaka, K., and Oguro, K. (2000). Bending of polyelectrolyte membrane platinum composites by electric stimuli part II. Response kinetics. J. Electroanal. Chem., 186\u2013198.","key":"ref_8","DOI":"10.1016\/S0022-0728(99)00458-1"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"321","DOI":"10.1016\/j.conengprac.2010.10.005","article-title":"Multi-scale distributed parameter modeling of ionic polymer-metal composite soft actuator","volume":"19","author":"Nishida","year":"2011","journal-title":"Control Eng. Pract."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"166","DOI":"10.1016\/S0393-0440(01)00083-3","article-title":"Hamiltonian formulation of distributed-parameter systems with boundary energy flow","volume":"42","author":"Maschke","year":"2002","journal-title":"J. Geom. Phys."},{"doi-asserted-by":"crossref","unstructured":"Van der Schaft, A.J. (2000). L2-Gain and Passivity Techniques in Nonlinear Control,2nd revised and enlarged ed., Springer-Verlag.","key":"ref_11","DOI":"10.1007\/978-1-4471-0507-7"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"1477","DOI":"10.1088\/0964-1726\/16\/4\/063","article-title":"A dynamic model for ionic polymer-metal composite sensors","volume":"16","author":"Chen","year":"2007","journal-title":"Smart Mater. Struct."},{"doi-asserted-by":"crossref","unstructured":"Kim, K.J., and Tadokoro, S. (2007). Electroactive Polymers for Robotic Application: Artificial Muscles and Sensors, Springer.","key":"ref_13","DOI":"10.1007\/978-1-84628-372-7"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"69323H","DOI":"10.1117\/12.776052","article-title":"Improved IPMC sensing by use of cation & through induced nanoto-micro scale surface cracks","volume":"6932","author":"Tiwari","year":"2008","journal-title":"Proc. SPIE"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"3321","DOI":"10.1063\/1.372343","article-title":"Electromechanical response of ionic polymermetal composites","volume":"87","author":"Li","year":"2000","journal-title":"J. Appl. Phys."},{"doi-asserted-by":"crossref","unstructured":"Kamamichi, N., Yamakita, M., and Asaka, K. (2006, January 15\u201319). A Snake-Like Swimming Robot Using IPMC Actuator\/Sensor. Proceedings of 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, USA.","key":"ref_16","DOI":"10.1109\/IROS.2005.1545485"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"913","DOI":"10.1163\/156855308X315091","article-title":"Integrated design of IPMC actuator\/sensor","volume":"22","author":"Yamakita","year":"2008","journal-title":"Adv. Robot."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"692724","DOI":"10.1117\/12.776189","article-title":"Frequency response characteristics of IPMC sensors with current\/voltage measurements","volume":"6927","author":"Takagi","year":"2008","journal-title":"Proc. SPIE"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"267","DOI":"10.1117\/12.435528","article-title":"Sensing capabilities of ionic polymer-metal composites","volume":"4328","author":"Shahinpoor","year":"2001","journal-title":"Proc. SPIE"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"200","DOI":"10.1016\/j.sna.2006.03.010","article-title":"Surface resistance experiments with IPMC sensors and actuator","volume":"133","author":"Punning","year":"2007","journal-title":"Sens. Actuat. A: Phys."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"849","DOI":"10.1115\/1.3171870","article-title":"On the dynamics of flexible beams under large overall motions\u2014the plane case: Part I","volume":"53","author":"Simo","year":"1986","journal-title":"J. Appl. Mech."},{"doi-asserted-by":"crossref","unstructured":"Nishida, G., and Yamakita, M. (July, January 30). A Higher Order Stokes-Dirac Structure for Distributed-Parameter Port-Hamiltonian System. Proceedings of 2004 American Control Conference, Boston, MA, USA.","key":"ref_22","DOI":"10.23919\/ACC.2004.1384643"},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"375","DOI":"10.1016\/0926-2245(91)90014-Z","article-title":"A multisymplectic framework for classical field theory and the calculus of variations II: Space + time decomposition","volume":"1","author":"Gotay","year":"1991","journal-title":"Differ. Geom. Appl."},{"doi-asserted-by":"crossref","unstructured":"Nishida, G., Sugiura, M., Yamakita, M., Maschke, B., and Ikeura, R. (2009, January 15\u201318). Boundary Detection of Variational Symmetry Breaking Using Port-Representation of Conservation Laws. Proceedings of the 48th IEEE Conference on Decision and Control, Shanghai, China.","key":"ref_24","DOI":"10.1109\/CDC.2009.5400499"},{"unstructured":"Nishida, G., Maschke, B., and Ikeura, R. (September, January 28). Discretized Hamiltonian Systems with Distributed Energy Flows on Divisible Meshe. Proceedings of IFAC World Congress, Milano, Italy.","key":"ref_25"}],"container-title":["Micromachines"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2072-666X\/3\/1\/126\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:49:08Z","timestamp":1760219348000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2072-666X\/3\/1\/126"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,2,29]]},"references-count":25,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2012,3]]}},"alternative-id":["mi3010126"],"URL":"https:\/\/doi.org\/10.3390\/mi3010126","relation":{},"ISSN":["2072-666X"],"issn-type":[{"type":"electronic","value":"2072-666X"}],"subject":[],"published":{"date-parts":[[2012,2,29]]}}}