In this research an intelligent emotional learning controller, Takagi- Sugeno- Kang (TSK) is applied to govern the
dynamics of a novel Ionic-Polymer Metal Composite (IPMC) actuated manipulator. Ionic-Polymer Metal Composites
are active actuators that show very large deformation in existence of low applied voltage. In this research, a new IPMC
actuator is considered and applied to a 2-dof miniature manipulator. This manipulator is designed for miniature tasks.
The control system consists of a set of neurofuzzy controller whose parameters are adapted according to the emotional
learning rules, and a critic with task to assess the present situation resulted from the applied control action in terms of
satisfactory achievement of the control goals and provides the emotional signal (the stress). The controller modifies its
characteristics so that the critic's stress decreased.