Self sensing feedback for dielectric elastomer actuators

被引：145

作者：

Gisby, Todd A. ^{[1
]}

O'Brien, Benjamin M. ^{[1
]}

Anderson, Iain A.

机构：

[1] Auckland Bioengn Inst, Biomimet Lab, Auckland, New Zealand

来源：

APPLIED PHYSICS LETTERS | 2013年 / 102卷 / 19期

关键词：

DESIGN;

D O I：

10.1063/1.4805352

中图分类号：

O59 [应用物理学];

学科分类号：

摘要：

Self sensing Dielectric Elastomer Actuator (DEA) artificial muscles will enable the creation of soft, lightweight robots with animal-like capabilities. We demonstrate a fast, accurate, and economic self sensing algorithm that enables an arbitrary voltage oscillation to be used to sense DEA capacitance during actuation in a manner that is robust to significant changes in electrode resistance and leakage current. Not only we can use this algorithm to emulate the proprioceptive feedback found in natural muscle but also we can use it for the online characterisation and analysis of DEA behavior. (C) 2013 AIP Publishing LLC.

引用

页数：4

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