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Proceedings Paper

Closed loop control of dielectric elastomer actuators
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Paper Abstract

Sensing the electrical characteristics of a Dielectric Elastomer Actuator(s) (DEA) during actuation is critical to improving their accuracy and reliability. We have created a self-sensing system for measuring the equivalent series resistance of the electrodes, leakage current through the equivalent parallel resistance of the dielectric membrane, and the capacitance of the DEA whilst it is being actuated. This system uses Pulse Width Modulation (PWM) to simultaneously generate an actuation voltage and a periodic oscillation that enables the electrical characteristics of the DEA to be sensed. This system has been specifically targeted towards low-power, portable devices. In this paper we experimentally validate the self-sensing approach, and present a simple demonstration of closed loop control of the area of an expanding dot DEA using capacitance feedback.

Paper Details

Date Published: 28 March 2011
PDF: 9 pages
Proc. SPIE 7976, Electroactive Polymer Actuators and Devices (EAPAD) 2011, 797620 (28 March 2011); doi: 10.1117/12.880711
Show Author Affiliations
Todd A. Gisby, Auckland Bioengineering Institute (New Zealand)
Benjamin M. O'Brien, Auckland Bioengineering Institute (New Zealand)
Sheng Q. Xie, The Univ. of Auckland (New Zealand)
Emilio P. Calius, Industrial Research Ltd. (New Zealand)
Iain A. Anderson, Auckland Bioengineering Institute (New Zealand)
The Univ. of Auckland (New Zealand)

Published in SPIE Proceedings Vol. 7976:
Electroactive Polymer Actuators and Devices (EAPAD) 2011
Yoseph Bar-Cohen; Federico Carpi, Editor(s)

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