Mechanical awareness from sensing artificial muscles: Experiments and modeling

The theoretical description of electrochemical artificial muscles sensing while working any mechanical perturbation is presented and corroborated by experimental results. The polymeric motors sense (haptic motors) any variable acting on the driving chemical reaction rate. Only two connecting wires contain, and the computer reads at any time of the movement, actuating (current) and sensing (potential or energy) magnitudes. The computer/generator/muscle system mimics brain/muscles feedback communication. Based on electrochemical and polymeric principles, a multifunctional sensing-actuating equation is attained, including information about: the movement rate, the muscle position, the chemical ambient, the working temperature and the mechanical perturbations. The equation describes the artificial experimental mechanical awareness and proprioception and the quantitative relationships between actuating and sensing variables. Most intelligent and simplest zoomorphic and anthropomorphic tools and robots are envisaged.