Biomedical Engineering Reference
In-Depth Information
H
G
F
C
E
B
D
I
J
A
Robotic swimming structure (top) and swimmer with muscle undulation fre-
quency of 3 Hz (bottom). The scale shown is in centimeters.
FIGURE 9.5
9.2.4
B
N
S
R
F
IOMIMETIC
OISELESS
WIMMING
OBOTIC
ISH
Figure 9.6 presents another arrangement of the IPMNC actuator showing an elastic
construction with imprinted electrodes for use as a robotic swimming structure—
more specifically, a robotic fish. The figure shows a robotic swimming structure
made by cutting and packaging strips of IPMNCs
A
in two rows of desired size
and shape and imprinted with electrodes
spaced throughout and in a single
structure. In this figure, muscle assembly structure
B
F
is formed of polymer gel strips
A
and is encapsulated into an elastic membrane
C
with multiple electrodes
B
imprinted there, with a first end
D
(tail) and a second end
E
(head). Head assembly
E
contains appropriate electronics and wiring structure
H
for providing power,
guidance, and controls to the muscle assembly
F
. Structure
H
is contained in a
sealed housing module
I
containing a means for generating a signal
M
and a means
for generating power.
The power source
places an alternating low voltage (a few volts' peak
per strip) across the muscle assembly
J
at end
E
F
as shown. Power source
J
includes an
erasable, programmable chip
and batteries. Note the two rows of small actuators
in parallel. Each has two terminals connected individually to the multiphase signal
generator
K
. Batteries (or other power sources) are
also housed in this section for required voltage input. By energizing one pair (across)
M
located in the head assembly
E
