Dynamics of electrohydraulic soft actuators

Self-sensing Actuators in Electrohydraulic Valves

Self-sensing refers to extracting the position information from the electromagnetic signals instead of from a physical position sensor. Self-sensing actuator has the benefit of significantly reducing hardware effort. In this paper, we investigate selfsensing actuators applied in direct acing proportional valves. The study is based on the configuration of a dual-solenoid actuator where each sole...

Self-calibration of Push-pull Solenoid Actuators in Electrohydraulic Valves

System parameters for solenoid actuators are important for high performance control and for self-sensing. Due to the nonlinearities in the solenoid actuators, parameter identification procedures that aim to obtain the electro-mechanical property can be complex and time consuming. In this paper, a self-calibration procedure for solenoid actuators in push-pull configurations is proposed. Utilizin...

Polypyrrole Soft Actuators

Soft Pneumatic Actuators for Rehabilitation

Pneumatic artificial muscles are pneumatic devices with practical and various applications as common actuators. They, as human muscles, work in agonistic-antagonistic way, giving a traction force only when supplied by compressed air. The state of the art of soft pneumatic actuators is here analyzed: different models of pneumatic muscles are considered and evolution lines are presented. Then, th...

A soft, bistable valve for autonomous control of soft actuators

John A. Paulson School of Engineering and Applied Sciences, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA. Department of Chemistry and Chemical Biology, Harvard University, 12 Oxford Street, Cambridge, MA 02138, USA. Kavli Institute for Bionano Science and Technology, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA. Wyss Institute of Biologically Inspired Enginee...