CAREER: Dexterous Biomimetic Micromanipulation Using Artificial Muscles: Modeling, Sensing, and Control

Michigan State University, East Lansing MI

Investigators

Abstract

PROJECT SUMMARY This CAREER proposal describes an integrated research and education program that will build a foundation for achieving the PIs career goals: to deliver smaller and smarter systems by developing novel modeling and control methodologies, and to train tomorrows control engineers with crossdisciplinary perspectives. In particular, the proposed research aims to fully realize the potential of Ionic Polymer-Metal Composites (IPMCs), informally known as artificial muscles, in manipulation of delicate, microscale objects (e.g., capture and transport of single biological cells and assembly of 3D MEMS structures), by developing modeling, sensing, and control strategies to address time-varying, nonlinear behaviors of IPMCs in actuation and sensing. The research will have four core thrusts: 1. Development of a control-oriented model capturing essential dynamics and nonlinearities in IPMCs, including both hysteresis and nonlinear feedback coupling from the bending curvature of an IPMC actuator to its electrical behavior. 2. Investigation of two original sensing approaches for IPMCs: one exploiting IPMCs built-in sensory capability using nonlinear compensation, the other utilizing the curvature-to-electrical behavior coupling observed by the PIs group. 3. Development of control schemes targeting the major nonlinearities in IPMC actuators, including adaptive inverse control methods for hysteretic, dynamical systems to accommodate possible variation of IPMC behaviors. 4. Design and fabrication of a biomimetic micromanipulator with IPMCs functioning simultaneously as structures, actuators, and sensors, and validation of the proposed modeling, sensing, control methods through manipulation of microbeads and biological cells (in collaboration with a biomedical engineer at Michigan State). Intellectual Merit: The proposed research will enable fast, precision control of IPMC actuators throughout their full actuation ranges by identifying and accommodating major nonlinearities in the control design. The developed sensing schemes can potentially eliminate the need for external sensors, resulting in smaller systems. Theoretical and experimental investigation of scaling laws will help understand the capabilities and limitations of micro IPMC actuators and sensors, and offer insight into design of active dithering schemes to overcome adhesion, a critical problem in micromanipulation. The proposed project will thus promote the development of compact, dexterous IPMC-based micromanipulation systems while motivating formulations and solutions of new problems in modeling and control. Broader Impacts: The proposed research will provide an innovative approach to manipulation of biological cells and micro devices, facilitating advances in biological studies, biotechnology, and microtechnology. Through collaboration with Environmental Robots Inc., the developed control and sensing schemes will be applied to a number of IPMC-based biomedical applications (e.g., implantable micropumps for drug delivery), with potential impacts on health care. Integrating with the research program, the PI will establish an interdisciplinary curriculum on Smart Materials and Systems including a senior design program involving industrial partners (the PI has secured seed funding from SPIE) and a graduate course Smart Sensors and Actuators in Micro and Nanosystems. As a faculty advisor to the undergraduate research program hosted by the Diversity Programs Office at Michigan State, the PI will involve women and minority students in developing biomimetic microrobots incorporating smart sensors and actuators, and further use these microrobots as appealing, hands-on educational kits to inspire the interest of K-12 students in science and engineering.