Compliant actuation based on dielectric elastomers for a force-feedback device: modeling and experimental evaluation
Thanks to their large power densities, low costs and shock-insensitivity, Dielectric Elastomers (DE) seem to be a promising technology for the implementation of light and compact force-feedback devices such as, for instance, haptic interfaces. Nonetheless, the development of these kinds of DE-based...
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| Format: | Article |
| Language: | English |
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Gruppo Italiano Frattura
2012-12-01
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| Series: | Fracture and Structural Integrity |
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| Online Access: | https://212.237.37.202/index.php/fis/article/view/161 |
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| author | R. Vertechy M. Bergamasco G. Berselli V. Parenti Castelli G. Vassura |
| author_facet | R. Vertechy M. Bergamasco G. Berselli V. Parenti Castelli G. Vassura |
| author_sort | R. Vertechy |
| collection | DOAJ |
| description | Thanks to their large power densities, low costs and shock-insensitivity, Dielectric Elastomers (DE) seem to be a promising technology for the implementation of light and compact force-feedback devices such as, for instance, haptic interfaces. Nonetheless, the development of these kinds of DE-based systems is not trivial owing to the relevant dissipative phenomena that affect the DE when subjected to rapidly changing deformations. In this context, the present paper addresses the development of a force feedback controller for an agonist-antagonist linear actuator composed of a couple of conically-shaped DE films and a compliant mechanism behaving as a negative-rate bias spring. The actuator is firstly modeled accounting for the viscohyperelastic nature of the DE material. The model is then linearized and employed for the design of a force controller. The controller employs a position sensor, which determines the actuator configuration, and a force sensor, which measures the interaction force that the actuator exchanges with the environment. In addition, an optimum full-state observer is also implemented, which enables both accurate estimation of the time-dependent behavior of the elastomeric material and adequate suppression of the sensor measurement noise. Preliminary experimental results are provided to validate the proposed actuator-controller architecture |
| format | Article |
| id | doaj-art-e3ae56face574768b2a75d06a2e51484 |
| institution | Kabale University |
| issn | 1971-8993 |
| language | English |
| publishDate | 2012-12-01 |
| publisher | Gruppo Italiano Frattura |
| record_format | Article |
| series | Fracture and Structural Integrity |
| spelling | doaj-art-e3ae56face574768b2a75d06a2e514842025-01-02T20:56:22ZengGruppo Italiano FratturaFracture and Structural Integrity1971-89932012-12-01723Compliant actuation based on dielectric elastomers for a force-feedback device: modeling and experimental evaluationR. Vertechy0M. Bergamasco1G. Berselli2V. Parenti Castelli3G. Vassura4PERCRO laboratory, Scuola Superiore Sant’Anna, Pisa, ItalyPERCRO laboratory, Scuola Superiore Sant’Anna, Pisa, ItalyDepartment of Engineering “Enzo Ferrari”- University of Modena and Reggio Emilia, Modena, ItalyDepartment of Mechanical and Aeronautical Engineering, University of Bologna, Bologna, ItalyDepartment of Mechanical and Aeronautical Engineering, University of Bologna, Bologna, ItalyThanks to their large power densities, low costs and shock-insensitivity, Dielectric Elastomers (DE) seem to be a promising technology for the implementation of light and compact force-feedback devices such as, for instance, haptic interfaces. Nonetheless, the development of these kinds of DE-based systems is not trivial owing to the relevant dissipative phenomena that affect the DE when subjected to rapidly changing deformations. In this context, the present paper addresses the development of a force feedback controller for an agonist-antagonist linear actuator composed of a couple of conically-shaped DE films and a compliant mechanism behaving as a negative-rate bias spring. The actuator is firstly modeled accounting for the viscohyperelastic nature of the DE material. The model is then linearized and employed for the design of a force controller. The controller employs a position sensor, which determines the actuator configuration, and a force sensor, which measures the interaction force that the actuator exchanges with the environment. In addition, an optimum full-state observer is also implemented, which enables both accurate estimation of the time-dependent behavior of the elastomeric material and adequate suppression of the sensor measurement noise. Preliminary experimental results are provided to validate the proposed actuator-controller architecturehttps://212.237.37.202/index.php/fis/article/view/161Dielectric elastomers |
| spellingShingle | R. Vertechy M. Bergamasco G. Berselli V. Parenti Castelli G. Vassura Compliant actuation based on dielectric elastomers for a force-feedback device: modeling and experimental evaluation Fracture and Structural Integrity Dielectric elastomers |
| title | Compliant actuation based on dielectric elastomers for a force-feedback device: modeling and experimental evaluation |
| title_full | Compliant actuation based on dielectric elastomers for a force-feedback device: modeling and experimental evaluation |
| title_fullStr | Compliant actuation based on dielectric elastomers for a force-feedback device: modeling and experimental evaluation |
| title_full_unstemmed | Compliant actuation based on dielectric elastomers for a force-feedback device: modeling and experimental evaluation |
| title_short | Compliant actuation based on dielectric elastomers for a force-feedback device: modeling and experimental evaluation |
| title_sort | compliant actuation based on dielectric elastomers for a force feedback device modeling and experimental evaluation |
| topic | Dielectric elastomers |
| url | https://212.237.37.202/index.php/fis/article/view/161 |
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