Electromechanical model for a self-sensing ionic polymer–metal composite actuating device with patterned surface electrodes

This paper further discusses a concept of creating a self-sensing ionic polymer–metal composite (IPMC) actuating device with patterned surface electrodes where the actuator and sensor elements are separated by a grounded shielding electrode. Different patterning methods are discussed and compared in detail; the presented experimental data give an understanding of the qualitative properties of the patterns created. Finally, an electromechanical model of the device is proposed and validated.