Deformation control method based on reaction current for soft pneumatic actuator actuated by electrochemical reactions

Deformation control is a key problem to soft pneumatic actuators. The existing deformation control methods are mostly based on pressure sensors and shape detection technologies, which make soft pneumatic actuators need complex structures and fabrication processes. Based on the soft pneumatic actuator we designed actuated by electrochemical reactions on a reversible proton exchange membrane fuel cell (RPEMFC) structure, we developed a deformation control method based on reaction current. With the deformation control method, the designed soft pneumatic actuator can be accurately controlled to deform to desired angles without complex structures and control system.