Towards Understanding How to Design a Soft Artificial Muscle Actuator?

In the experimental work, we have found that the frequency and the am- plitude plays a crucial role in actuation profile of ionic EAP. For estimating the blocked force generated along the spatial domain of ionic EAP, we have implemented Coulomb inverse square law as there is an electrostatic interaction among one mobile ion and N of elementary electric charge which could be re- pulsion or attraction on both surface area of ionic EAP based on the applied potential field phase.

The ionic EAP is a tri-layer, assuming that the upper and lower layer which are conductive layer a RC transmission line where we assume that R is constant for sake of simplicity. The potential field at the clamping point is diffused along the muscle, one dimensional diffusion model is implemented for estimating the elementary electric charges diffused in the surface area of the upper layer. As ionic EAP is working as mutual capacitor, we have assumed that the charges of the stored mobile ions in the medium layer has the same initial value of the elementary electric charges in the upper and conductive layer.