Authors
Todd A Gisby, Benjamin M O'Brien, Iain A Anderson
Publication date
2013/5/13
Journal
Applied Physics Letters
Volume
102
Issue
19
Publisher
AIP Publishing
Description
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.
Scholar articles
TA Gisby, BM O'Brien, IA Anderson - Applied Physics Letters, 2013