Review of Artificial Muscle Based on Contractile Polymers

An artificial muscle with strength and speed equal to that of a human muscle may soon be possible. Polymer gels exhibit abrubt volume changes in response to variations in their external conditions -- shrinking or swelling up to 1000 times their original volume. Through the conversion of chemical or electrical energy into mechanical work, a number of devices have already been constructed which produce forces up to 100N/cm2 and contraction rates on the order of a second. Through the promise of an artificial muscle is real, many fundamental physical and engineering questions remain before the extent or limit of these devices is known.

Dynamic Model and Control of an Artificial Muscle Based on Contractile Polymers

A dynamic model and control system of an artificial muscle is presented. The artificial muscle is based on a contractile polymer gel which undergoes abrupt volume changes in response to variations in external conditions. The device uses an acid-base reaction to directly convert chemical to mechanical energy. A nonlinear sliding mode control system is proposed to track desired joint trajectories of a single link controlled by two antagonist muscles. Both the model and controller were implemented and produced acceptable tracking performance at 2Hz.

On the Physiology of Bistable Percepts

Binocular rivalry refers to the alternating perceptions experienced when two dissimilar patterns are stereoscopically viewed. To study the neural mechanism that underlies such competitive interactions, single cells were recorded in the visual areas V1, V2, and V4, while monkeys reported the perceived orientation of rivaling sinusoidal grating patterns. A number of neurons in all areas showed alternating periods of excitation and inhibition that correlated with the perceptual dominance and suppression of the cell"s preferred orientation. The remaining population of cells were not influenced by whether or not the optimal stimulus orientation was perceptually suppressed. Response modulation during rivalry was not correlated with cell attributes such as monocularity, binocularity, or disparity tuning. These results suggest that the awareness of a visual pattern during binocular rivalry arises through interactions between neurons at different levels of visual pathways, and that the site of suppression is unlikely to correspond to a particular visual area, as often hypothesized on the basis of psychophysical observations. The cell-types of modulating neurons and their overwhelming preponderance in higher rather than in early visual areas also suggests -- together with earlier psychophysical evidence -- the possibility of a common mechanism underlying rivalry as well as other bistable percepts, such as those experienced with ambiguous figures.