Self sensing feedback for dielectric elastomer actuators

Gisby, Todd A.; O'Brien, Benjamin M.; Anderson, Iain A.
May 2013
Applied Physics Letters;5/13/2013, Vol. 102 Issue 19, p193703
Academic Journal
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.


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