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11 July 2002 Control system design for a dielectric elastomer actuator: the sensory subsystem
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The development of a sensory subsystem for use in the position control of a dielectric elastomer transducer (DET) is reported. In this study, the dielectric elastomer serves as both a source of sensory feedback and as the primary actuator. Specifically, stretched film DETs are considered to test the sensory subsystem. The capacitance of the film is measured in real-time using a low-voltage carrier signal that is superimposed on the control signal for actuation of the film. The relationship between the capacitance of the DET and applied voltage is presented for operating conditions outside of the elastic-buckling mode. The inference of strain made by the sensory subsystem is compared to that measured from digital images of the DET taken during operation and close correlation between the two measurements is confirmed. The capacitance measured during operation within the elastic-buckling mode shows a surprising drop under conditions of low frequency excitation and aged carbon grease electrodes. The measured capacitance in the elastic-buckling mode shows a dramatic increase during high-frequency excitation and with newly fabricated carbon grease electrodes.
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Landy A. Toth and Andrew A. Goldenberg "Control system design for a dielectric elastomer actuator: the sensory subsystem", Proc. SPIE 4695, Smart Structures and Materials 2002: Electroactive Polymer Actuators and Devices (EAPAD), (11 July 2002);

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