10 April 2008 Self-sensing of dielectric elastomer actuator
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In this paper, we introduce a novel, self-sensing technique for dielectric elastomer (DE) actuators which will adequately measure the in-situ impedance variation of the DE under a deformation. A standard signal processing technique was introduced to accurately mix and extract actuating and sensing signals. Although the technique is limited to the actuation-bandwidth of several tens of Hz, its practical use for applications and tests is attractive. With the proposed technique, the self-sensing actuation system was effectively demonstrated without using auxiliary sensors. The proposed technique is useful for many attractive robotic applications including space-limited micro-actuation systems and multi-DOF systems that use hyper redundant manipulators.
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Kwangmok Jung, Kwangmok Jung, Kwang J. Kim, Kwang J. Kim, Hyouk Ryeol Choi, Hyouk Ryeol Choi, "Self-sensing of dielectric elastomer actuator", Proc. SPIE 6927, Electroactive Polymer Actuators and Devices (EAPAD) 2008, 69271S (10 April 2008); doi: 10.1117/12.776831; https://doi.org/10.1117/12.776831

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