Sensorless force control for dielectric elastomer transducers

Sensorless Torque/Force Control

Motion control systems represent a main subsystem for majority of processing systems that can be found in the industrial sector. These systems are concerned with the actuation of all devices in the manufacturing process such as machines, robots, conveyor systems and pick and place mechanisms such that they satisfy certain motion requirements, e.g., the pre specified reference trajectories are f...

Dielectric Elastomer Actuators for A Portable Force Feedback Device

This paper focuses on the development of novel actuators for a portable force feedback glove for, but not limited to, the simulation of open surgeries. A conceptual design of a chain-like actuator based on electroactive polymers is introduced. One actuator element of this chain was built in order to explore and optimize the actuator manufacturing process. Actuators manufactured with this stable...

A dynamic finite element method for inhomogeneous deformation and electromechanical instability of dielectric elastomer transducers

We present a three-dimensional nonlinear finite element formulation for dielectric elastomers. The mechanical and electrical governing equations are solved monolithically using an implicit time integrator, where the governing finite element equations are given for both static and dynamic cases. By accounting for inertial terms in conjunction with the Arruda–Boyce rubber hyperelastic constitutiv...

Highly stretchable and transparent ionogels as nonvolatile conductors for dielectric elastomer transducers.

Large deformation of soft materials is harnessed to provide functions in the nascent field of soft machines. This paper describes a new class of systems enabled by highly stretchable, transparent, stable ionogels. We synthesize an ionogel by polymerizing acrylic acid in ionic liquid 1-ethyl-3-methylimidazolium ethylsulfate ([C2mim][EtSO4]). The ionogel exhibits desired attributes of adequate co...

Dielectric Elastomers Conductive Elastomer Insulating Elastomer