fig3

Figure 3. Ionomer of IPMC. (A) Chemical formula of Nafion. (B) Schematic diagram of Nafion microstructure. (C) Working performance of IL-driven IPMC and water-driven IPMC. Reproduced with permission from Ref.^[44]. Copyright^© 2021 The Korean Society of Industrial and Engineering Chemistry. (D). SSPB-based IPMC actuator. Reproduced with permission from Ref.^[50]. Copyright^© 2013 The Royal Society of Chemistry. (E) PVDF-based IPMC actuator. Reproduced with permission from Ref.^[56]. Copyright^© 2019 American Chemical Society. (F) Sulfonation reaction on PEES. Reproduced with permission from Ref.^[57]. Copyright^© 2015 Elsevier Ltd.