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The papers included in this volume were part of the technical conference cited on the cover and title page. Papers were selected and subject to review by the editors and conference program committee. Some conference presentations may not be available for publication. The papers published in these proceedings reflect the work and thoughts of the authors and are published herein as submitted. The publisher is not responsible for the validity of the information or for any outcomes resulting from reliance thereon. Please use the following format to cite material from this book: Author(s), ‘Title of Paper,” in Electroactive Polymer Actuators and Devices (EAPAD) 2015, edited by Yoseph Bar-Cohen, Proceedings of SPIE Vol. 9430 (SPIE, Bellingham, WA, 2015) Article CID Number. ISSN: 0277-786X ISBN: 9781628415339 Published by SPIE P.O. Box 10, Bellingham, Washington 98227-0010 USA Telephone +1 360 676 3290 (Pacific Time)· Fax +1 360 647 1445 Copyright © 2015, Society of Photo-Optical Instrumentation Engineers. Copying of material in this book for internal or personal use, or for the internal or personal use of specific clients, beyond the fair use provisions granted by the U.S. Copyright Law is authorized by SPIE subject to payment of copying fees. The Transactional Reporting Service base fee for this volume is $18.00 per article (or portion thereof), which should be paid directly to the Copyright Clearance Center (CCC), 222 Rosewood Drive, Danvers, MA 01923. Payment may also be made electronically through CCC Online at copyright.com. Other copying for republication, resale, advertising or promotion, or any form of systematic or multiple reproduction of any material in this book is prohibited except with permission in writing from the publisher. The CCC fee code is 0277-786X/15/$18.00. Printed in the United States of America. Publication of record for individual papers is online in the SPIE Digital Library.
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The CID Number appears on each page of the manuscript. The complete citation is used on the first page, and an abbreviated version on subsequent pages. AuthorsNumbers in the index correspond to the last two digits of the six-digit citation identifier (CID) article numbering system used in Proceedings of SPIE. The first four digits reflect the volume number. Base 36 numbering is employed for the last two digits and indicates the order of articles within the volume. Numbers start with 00, 01, 02, 03, 04, 05, 06, 07, 08, 09, 0A, 0B…0Z, followed by 10-1Z, 20-2Z, etc. Aabloo, Alvo, 0E, 0Q, 0R, 0S, 19, 1C, 1K, 1Q Akle, Barbar J., 0H Alarifi, Ibrahim M., 32 Alexandru, Mihaela, 0A Alharbi, Abdulaziz, 32 Alici, Gursel, 1R Anandan, Nishita, 1M Anbarjafari, Gholamreza, 1Q Andersen, Michael A. E., 08 Anderson, Iain A., 25 Ansaldo, Alberto, 0U, 0V Antonello, Andrea, 23 Arai, Masanori, 2A Araromi, Oluwaseun, 0Z, 1J Asaka, Kinji, 0P Aschwanden, Manuel, 04 Asmatulu, Ramazan, 24, 31, 32 Assaf, Tareq, 27 Bahi, Addie, 1X Baltrusaitis, Valentinas, 30 Baranova, Inna, 0Q Bass, Patrick S., 0F Bauer, Pavol, 06 Bellmann, C., 2F Bergaud, Christian, 1E Berlingeri, Alexander R., 1Z Bertoldi, Katia, 1P Biedermann, Miriam, 1G Blue, Lauchlin, 0F Blümke, Martin, 0L, 1G Bo, Tao, 0N Böse, Holger, 29 Branz, Francesco, 23 Brayda, Luca, 0V Bubak, Grzegorz, 0U, 0V Carli, Ruggero, 23 Carron, Andrea, 23 Cattan, Eric, 0O Ceseracciu, Luca, 0U, 0V Cha, Youngsu, 0G Challita, Elio, 0H Chen, Hualing, 2Z Chen, Zheng, 24, 31 Cheng, Z.-Y., 0F Choi, Hyouk Ryeol, 10, 2T Choi, Jae-young, 10 Cieslar-Pobuda, Artur, 1T Clarke, David R., 1P Daugaard, Anders Egede, 12 Dobashi, Yuta, 26 Dünki, Simon, 0A Ebrahimi Takallo, Saeede, 1A Eom, Taesik, 2V Faisal, Md. Shahnewaz Sabit, 24, 31 Fannir, Adelyne, 1A Farajollahi, Meisam, 1A, 26 Favre, M., 0Z Floreano, Dario, 1S Förster-Zügel, Florentine, 0D, 2O Fontana, M., 0K Foo, Choon Chiang, 2C Francesconi, Alessandro, 23 Frank, T., 2F Franke, Jörg, 14 Furukawa, Hidemitsu, 2A Fuß, Eric, 29 Gallot-Lavallée, O., 15 Ganguli, Ranjan, 2D Gelmi, Amy, 1T Gendron, David, 0U, 0V Gerlach, G., 2F Giazzon, M., 0Z Godaba, Hareesh, 2C Gong, Jin, 2A Graetzel, Chauncey, 04 Grotepaß, Tanja, 0D, 2O Guobiene, Asta, 30 Haebler, Karl J., 1Z Hammami, S., 15 Han, Yu, 2Q Harjo, Madis, 1C Hau, Steffen, 0C Haus, Henry, 1Q Hoffstadt, Thorben, 07, 1L Huang, Xiaoqiang, 1F, 1W, 21 Hvilsted, Søren, 0T, 12, 1D Hwang, Do-Yeon, 10 J., Sakthi Swarrup, 2D Jager, Edwin W. H., 16, 1R, 1T Janusas, Giedrius, 30 Jean-Mistral, C., 15 Jin, Peng, 2Q Jin, Yongbin, 1F, 1W, 21 Johanson, Urmas, 0E, 0Q Jomni, F., 15 Kaasik, Friedrich, 0S, 1C, 1K Kaasik, Toomas, 0Q Kabir, M. Hasnat, 2A Kadooka, Kevin, 1M, 20 Kesküla, Arko, 19, 1C, 1Q Khairalah, Nady, 0H Khaldi, Alexandre, 16, 1R Khalili, Nazanin, 2E Khan, Waseem S., 32 Khoo,Boo Cheong,2C Kianzad, Soheil, 1X, 1Z Kiefer, Rudolf, 1C, 1Q Kim, Baek-chul, 10 Kim, Kwang J., 2J Kim, Uikyum, 2T Knoop, Lars Espen, 27 Ko, Frank, 1X Ko, Yee Song, 0A, 2U Koo, Ja Choon, 10, 2T Krüger, Hartmut, 0L, 1G Kruusamäe, Karl, 0P Kuhring, Stefan, 1L Kwon, Roy H., 2E La, Thanh-Giang, 0M Landgraf, Maximilian, 14 Larson, Kent, 13 Lau, Gih-Keong, 0M Lee, Dong-Hyuk, 2T Leichsenring, Peter, 1l Leng, Jinsong, 2Q Leung, Vanessa, 0B Lewis, Johnathan D., 1Z Li, Chi, 1F, 1W, 21 Li, Dichen, 2Z Li, Jinrong, 0N Li, Mi, 0F Li, Peng, 2Q Li, Tiefeng, 1F, 1W, 21 Liley, M., 0Z Liu, Jiayu, 2Z Liu, Junjie, 1F, 1W, 21 Liu, Liwu, 0N Ljunngren, Monika K., 1T Los, Marek Jan, 1T Luo, Meng, 2Z Lux, Philipp, 29 Lv, Xiongfei, 0N Ma, Chunxin, 1F Maas, Jürgen, 07, 1L Madden, John D. W., 1A, 1X, 1Z, 26 Madsen, Frederikke Bahrt, 0T, 12, 1D Maffli, Luc, 11 Makino, Masato, 2A Mändmaa, Sven-Erik, 19 Martinez, Jose Gabriel, 1C Martin-Olmos, C., 0Z Mascaro, Stephen A., 18 Mathieu, Fabrice, 1E Maziz, Ali, 0O, 16, 1R Mintchev, Stefano, 1S Mirabbasi, Shahriar, 26 Mößinger, H., 2O Moon, Hyungpil, 10, 2T Müller, Bert, 0B Must, Indrek, 0E, 0Q, 0S Naficy, Sina, 26 Naguib, Hani E., 2E Naito, Keishi, 20 Nam, Jaedo, 2T Nguyen, Canh Toan, 2T Nguyen, Tien Dat, 2T Nüesch, Frank A., 0A, 2U Oishi, Kazuma, 1M Opris, Dorina M., 0A, 2U Osmani, Bekim, 0B Otero, Toribio F., 1C Palevicius, Arvydas, 30 Palmre, Viljar, 2J Pandit, Milind, 1X, 1Z Park, Junwoo, 2T Peikolainen, Anna-Liisa, 19, 1C Persson, Nils-Krister, 16 Phung, Hoa, 2T Plesse, Cédric, 0O, 1A Põldsalu, Inga, 0S, 19, 1K Ponelyte, Sigita, 30 Porfiri, Maurizio, 0G Poulin, Alexandre, 0Z, 11 Prosycevas, Igoris, 30 Punning, Andres, 0E, 0Q, 0R, 0S, 1K Quinsaat, Jose Enrico Q., 0A Racles, Carmen, 0A Rafat, Mehrdad, 1T Rafie Ravandi, Ali, 1X Rain, P., 15 Rasti, Pejman, 1Q Reitelshöfer, Sebastian, 14 Ricci, Davide, 0U, 0V Rosset, Samuel, 09, 0Z, 11, 1J, 1S Rossiter, Jonathan, 27 Saito, Makoto, 1M, 20 Sakalys, Rokas, 30 Sarrazin, J. C., 18 Sassani, Farrokh, 1A Scabeni Glitz, Ettore F., 26 Schlaak, Helmut F., 0D, 1Q, 2O Schubert, Bryan, 1S Seelecke, Stefan, 0C Shea, Herbert, 09, 0Z, 11, 1J, 1S Shen, Qi, 2J Shian, Samuel, 1P Shim, Bong Sub, 2V Shintake, Jun, 1S Simaite, Aiva, 1E Skov, Anne Ladegaard, 0T, 12, 1D Souéres, Philippe, 1E Soyer, Caroline, 0O Spinks, Geoffrey M., 1R, 1X, 26 Stalbaum, Tyler, 2J Steinke, A., 2F Sugino, Takushi, 0P Suter, Marcel, 04 Sylvestre, A., 15 Tairych, Andreas, 25 Tan, Desmond Di-Teng, 0M Taya, Minoru, 1M, 20 Temmer, Rauno, 0S Tondu, Bertrand, 1E Töpper, Tino, 0B Tu, Maobing, 0F Uhlenbusch, Dominik, 1L us Sarwar, Mirza Saquib, 26 Vaddepally, Vishwaja, 1C Valner, Robert, 1C van Kessel, Rick, 06 Vertechy, R., 0K Vidal, Frédéric, 0O, 1A Vunder, Veiko, 0R, 0S, 1K Wallmersperger, Thomas, 1L Wang, Wenxin, 2Q Wang, Yanjie, 2Z Wattez, Ambroise, 06 Wegener, Michael, 0L, 1G Weiss, Florian M., 0B Wetzel, Thomas, 14 Winterhalter, Carla, 0B Woehling, Vincent, 1A Wohlfender, Fabian, 0B Xie, Yuhan, 1F, 1W, 21 Xu, Daniel, 25 Yang, Xuxu, 1F, 1W Yangui, B., 15 Ye, Zhihang, 24, 31 Yoo, In Seong, 14 York, Alexander, 0C Yu, Liyun, 0T, 12, 1D Zhang, Jiabin, 1T Zhang, Lin, 0F Zhang, Wei, 0N Zhang, Zhe, 08 Zhang, Zhen, 0N Zhang, Zhi Qian, 2C Zhao, Dongxu, 2Z Zhao, Liangyu, 2Q Zhao, Wei, 0N Zhu, Jian, 2C Zhu, Ziqi, 1F Zorell, Ulrich, 14 Conference CommitteeSymposium Chairs
Symposium Co-chairs
Conference Chair Conference Co-chair Conference Program Committee
Session Chairs
EAP-in-Action Demonstration SessionModerator: Yoseph Bar-Cohen, Jet Propulsion Laboratory This 2015 EAP-in-Action Session highlighted some of the latest capabilities and applications of Electroactive Polymers (EAP) materials where the attendees are shown demonstrations of these materials in action (Figure 1). Also, the attendees interact directly with technology developers and given “hands-on” experience with this emerging technology. The first Human/EAP-Robot Armwrestling Contest was held during this session. This 2015 Session included 11 demonstrations which was a record for the EAPAD Conference and the demonstrations were as follow (listed by the country of the leading presenters). The session included teams of professors and their students as well as small companies who presented their innovations and potential new products that are driven by EAP. Canada M. S. Sarwar, E. Glitz, S. Kianzad, A. Rafiee, M. Pandit, J. D. Lewis, A. R. Berlingeri, M. Farajollahi, S. E. Takalloo, Y. Dobashi, S. Mirabbasi, E. Cretu and John D.W. Madden, Univ. of British Columbia (Figure 2). The presentation title was “Conducting polymer and nylon-based sensors and actuators” Figure 2:From left to right, Mirza Sarwar, John D. W. Madden, and Soheil Kianzad demonstrating conducting polymer and nylon-based sensors and actuators  Description: The demonstration featured ionic EAP sensor membranes, miniature trilayer actuators, and large force nylon linear actuators. The nylon thermal actuators, which are helical in form, can be woven into fabrics (Figure 3). China Two group from China presented demonstrations this year:
Germany H. Mößinger1, H. Haus1, M. B. Saif2, K. Hofmann2, Helmut F. Schlaak1 (Figure 8). 1Institute of Electromechanical Design, Technische Universität Darmstadt, 2Integrated Electronic Systems Lab, Technische Universität Darmstadt “Reduced size electronics for controlling DEA” Figure 8:From left to right, Helmut F. Schlaak, Henry Haus, and Holger Mößinger demonstrating reduced size electronics for controlling DEA.  Description: As DEA moves closer to the market, providing suitable driving and sensing electronics becomes a crucial task. In the ongoing effort to develop small and efficient electronics, Technische Universität Darmstadt presented the first version of their custom designed application-specific integrated circuit (ASIC) for driving up to four DE-actuators at voltages as high as 700 Volts. A total chip size of 20 mm2 was developed that contains four signal generation units capable of generating switching signals in the kHz range, configurable by a serial digital interface (Figure 9). Japan M. H. Kabir, J. Gong, M. Makino, and H. Furukawa, Yamagata University, Yamagata (Figure 10). “Thermo responsive shape recovery soft actuator” Figure 10:From left to right, Masato Makino, Kumkum Ahmed, M. Hasnat Kabir, Masonori Arai, Naoya Yamada, and Koji Okada demonstrating a thermo responsive shape recovery soft actuator.  Description: A free forming deformed shape of polymeric gel can recover its original shape and size. The gel shows temperature dependent functionality. The shape memory effect can be observed both in hot water and hot air. The material is suitable for soft actuators which might be applicable in biomedical science. Using this gel to drive a humanlike figure was demonstrated along with the shape memory function (Figure 11). New Zealand This year two organizations from New Zealand participated in the EAP-in-Action Session:
Switzerland S. Rosset, S. Araromi, A. Poulin, L. Maffli, J. Shintake, D. Floreano and H. Shea, Ecole Polytechnique Fédérale de Lausanne (Figure 15 and Figure 16) - “High speed silicone DEAs’ Figure 15:From left to right, S. Rosset, Sluwaseum Araromi, Alexander Poulin, and Jun Shintake, demonstrating high speed silicone DEAs.  Figure 16:From left to right Sluwaseum Araromi, Alexander Poulin, Herbert Shea, and S. Rosset during the demonstration.  Description: Precise patterning of robust and wear-resistant electrodes on silicone membranes allows for the fabrication of high-speed dielectric elastomer actuators with a long lifetime. At EPFL-LMTS, a broad range of fabrication processes were developed for the fabrication of high quality silicone membranes and the patterning of compliant electrodes presenting strong adhesion to the dielectric membrane. Several devices were shown to illustrate the related activities. These include tunable lens with a settling time below 200 μm, a soft and compliant 1-g gripper capable of holding an egg, and capacitive sensing devices with miniaturized sub-mm electrodes (Figure 17). United States
IntroductionThis SPIE’s Electroactive Polymers Actuators and Devices (EAPAD) Conference is the leading international forum for presenting the latest progress and holding discussions amongst the attendees regarding the capabilities, challenges, and potential future directions of the field. The conference this year was Chaired by Yoseph Bar-Cohen, JPL, and Co-Chaired by Gal deBotton, Ben-Gurion Univ. of the Negev (Israel) and it included 112 presentations. The Conference was well attended by internationally leading experts in the field including members of academia, industry, and government agencies from the United States and overseas. This year the Keynote speaker was Brett Kennedy, JPL, and his paper title is “RoboSimian and the Advancement of Mobile Manipulation in Robotics”. In his presentation he covered the progress in robotics for planetary applications, the development of the robot, RoboSimian, as well as details of the DARPA challenge where this robot reached the 5th place out of 16 participants. Overall, the papers that were presented reported the significant progress that was made in each of the topics of the EAP infrastructure. The topics included Emerging Actuators; Power Generation and Energy Harvesting; EAP Materials and Actuators (including ionic, conducting and dielectric EAP), Nano-Tech and CNT EAP; New EAP Materials, Processes, and Fabrication Techniques; Analytical Modeling and Simulations of EAP Mechanisms; Applications of EAP Materials; New EAP Actuators and Applications of EAP Materials; Shape Memory Polymers and Other EAP Materials; Haptic, Tactile, and Other Sensors. The papers addressed issues that can forge the transition to practical use, including improved materials, better understanding of the principles responsible for the electromechanical behavior, analytical modeling, processing, and characterization methods as well as considerations and demonstrations of various applications. The efforts described in the presented papers are showing significant improvements in understanding of the electromechanical principles and better methods of dealing with the challenges to the materials applications. Researchers are continuing to develop analytical tools and theoretical models to describe the electro-chemical and -mechanical processes, non-linear behavior as well as methodologies of design and control of the activated materials. EAP with improved response were described including dielectric elastomer, IPMC, conductive polymers, gel EAP, carbon nanotubes, and other types. Specifically, there seems to be a significant trend towards using dielectric elastomers as practical EAP actuators. This year, the conference included a half-day course about electroactive polymers. The instructors were Yoseph Bar-Cohen, Jet Propulsion Lab/Caltech., Pasadena, CA; John Madden, Univ. of British Columbia, Vancouver, Canada; and Qibing Pei, Univ. of California, Los Angeles. Also, an EAP-in-Action Session was held and it consisted of eleven demonstrations with presenters from Canada, China, Germany, Japan, New Zealand, Switzerland, and USA. The presentation of 11 demonstrations is a record for the EAPAD Conference. In closing, I would like to extend a special thanks to all the conference attendees, session chairs, the EAP-in-Action demo presenters, and the members of the EAPAD program organization committee. In addition, special thanks are extended to the SPIE staff that helped making this conference a great success. Yoseph Bar-Cohen |
