相关论文: Modeling, Control and Self-sensing of Dielectric E…
In this work, a simulation model for the optimal control of dielectric elastomer actuated flexible multibody dynamics systems is presented. The Dielectric Elastomer Actuator (DEA) behaves like a flexible artificial muscles in soft robotics.…
In order to fully harness the potential of dielectric elastomer actu-ators (DEAs) in soft robots, advanced control methods are need-ed. An important groundwork for this is the development of a control-oriented model that can adequately…
Soft robotics is a field of robotic system design characterized by materials and structures that exhibit large-scale deformation, high compliance, and rich multifunctionality. The incorporation of soft and deformable structures endows soft…
Soft actuators offer a safe, adaptable approach to tasks like gentle grasping and dexterous manipulation. Creating accurate models to control such systems however is challenging due to the complex physics of deformable materials. Accurate…
Soft robots could bring robotic systems to new horizons, by enabling safe human-machine interaction. For precise control, these soft structures require high level position feedback that is not easily achieved through conventional…
Dielectric elastomers (DEs) are a type of multifunctional materials with salient features that are very attractive in developing soft, lightweight, and small-scale transducers and robotics. This paper reviews the mechanics of soft DE…
Soft parallel robots with their manipulation safety and low commercial cost show a promising future for delicate operations and safe human-robot interactions. However, promoting the use of electroactive polymers (EAPs) is still challenging…
The design of robots that are light, soft, powerful is a grand challenge. Since they can easily adapt to dynamic environments, soft robotic systems have the potential of changing the status-quo of bulky robotics. A crucial component of soft…
Dielectric elastomers (DEs) that couple deformation and electrostatics have the potential for use in soft sensors and actuators with applications ranging from robotic, biomedical, energy, aerospace and automotive technologies. However,…
A predicting model for soft Dielectric Elastomer Generators (DEGs) must consider a realistic model of the electromechanical behaviour of the elastomer filling, the variable capacitor and of the electrical circuit connecting all elements of…
Fluid-based soft actuators are an attractive option for lightweight and human-safe robots. These actuators, combined with fluid pressure force feedback, are in principle a form of series-elastic actuation (SEA), in which nearly all…
In this work, we propose a high-voltage, high-frequency control circuit for the untethered applications of dielectric elastomer actuators (DEAs). The circuit board leverages low-voltage resistive components connected in series to control…
Short lifetime under high electrical fields hinders the widespread robotic application of linear dielectric elastomer actuators (DEAs). Systematic scanning is difficult due to time-consuming per-sample testing and the high-dimensional…
Dielectric elastomer actuators (DEAs), also recognized as artificial muscle, have been widely developed for the soft locomotion robot. With the complaint skeleton and miniaturized dimension, they are well suited for the narrow space…
Thin dielectric elastomer actuator (DEA) features a unique in-plane configuration, enabling low-profile designs capable of accessing millimetre-scale narrow spaces. However, most existing DEA-powered soft robots require high voltages and…
This paper presents an interaction control algorithm for a dielectric elastomer membrane actuator. The proposed method permits efficient exploitation of the controllable stiffness of the material, allowing to use the membrane as a…
This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work from our team on VLCA [1], we present a new system design…
Fluid-driven elastomeric actuators (FEAs) are among the most popular actuators in the emerging field of soft robotics. Intrinsically compliant, with continuum of motion, large strokes, little friction, and high power-to-weight ratio, they…
This paper presents modeling of a compliant 2D manipulator, a so called soft hydraulic/fluidic elastomer actuator. Our focus is on fiber-Reinforced Fluidic Elastomer Actuators (RFEA) driven by a constant pressure hydraulic supply and…
Soft robotic systems offer benefits over traditional rigid systems through reduced contact trauma with soft tissues and by enabling access through tortuous paths in minimally invasive surgery. However, the inherent deformability of soft…