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 visco-hyperelastic 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.

Compliant Actuation Based on Dielectric Elastomers for a Force-Feedback Device: Modeling and Experimental Evaluation / Rocco, Vertechy; Berselli, Giovanni; Massimo, Bergamasco; Vincenzo Parenti, Castelli; Gabriele, Vassura. - In: FRATTURA E INTEGRITÀ STRUTTURALE. - ISSN 1971-8993. - ELETTRONICO. - 23:(2012), pp. 47-56. [10.3221/IGF-ESIS.23.05]

Compliant Actuation Based on Dielectric Elastomers for a Force-Feedback Device: Modeling and Experimental Evaluation

BERSELLI, Giovanni;
2012

Abstract

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 visco-hyperelastic 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.
23
47
56
Compliant Actuation Based on Dielectric Elastomers for a Force-Feedback Device: Modeling and Experimental Evaluation / Rocco, Vertechy; Berselli, Giovanni; Massimo, Bergamasco; Vincenzo Parenti, Castelli; Gabriele, Vassura. - In: FRATTURA E INTEGRITÀ STRUTTURALE. - ISSN 1971-8993. - ELETTRONICO. - 23:(2012), pp. 47-56. [10.3221/IGF-ESIS.23.05]
Rocco, Vertechy; Berselli, Giovanni; Massimo, Bergamasco; Vincenzo Parenti, Castelli; Gabriele, Vassura
File in questo prodotto:
File Dimensione Formato  
161-Article Text (.docx, max 100 Mb)-601-1-10-20121228.pdf

accesso aperto

Tipologia: Versione dell'editore (versione pubblicata)
Dimensione 1.3 MB
Formato Adobe PDF
1.3 MB Adobe PDF Visualizza/Apri
Pubblicazioni consigliate

Caricamento pubblicazioni consigliate

Licenza Creative Commons
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/906690
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 5
  • ???jsp.display-item.citation.isi??? ND
social impact