A Dynamic Model for IPMC Sensors

Reciprocal to the actuation effect, IPMCs also have inherent capability of sensing mechanical stimuli. In particular, an applied mechanical stimulus redistributes the cations inside an IPMC, resulting in a detectable electrical signal in correlation with the stimulus. The measured signal is typically 

In this section we show that an approach analogous to the one presented in Section 4.2 can be taken to model IPMC sensors. The resulting model takes of the form of an infinite-dimensional transfer function, and it is physics-based, geometrically scalable, and amenable to model reduction and real-time sensing applications. In the interest of brevity, we provide 

---