Miniaturized Circuitry for Capacitive Self-Sensing and Closed-Loop Control of Soft Electrostatic Transducers
Miniaturized Circuitry for Capacitive Self-Sensing and Closed-Loop Control of Soft Electrostatic Transducers
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DOI：
10.1089/soro.2020.0048
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发表时间：
2020-10-01
期刊：
影响因子：
7.9
通讯作者：
Correll, Nikolaus
中科院分区：
文献类型：
--
作者：
Ly, Khoi;Kellaris, Nicholas;Correll, Nikolaus
软机器人是机器人系统设计的一个领域，其特点是材料和结构具有大变形、高顺应性和丰富的多功能性。柔性和可变形结构的结合赋予了柔性机器人系统顺应性和弹性，使其能够很好地适应非结构化和动态环境。尽管软机器人的驱动机制各不相同，但软静电传感器，如介电弹性体致动器（dea）和液压放大自愈静电致动器（HASEL），由于其类似肌肉的性能和电容式自传感能力，已经证明了其前景。尽管之前的努力是通过叠加正弦低压信号来实现静电换能器的自传感，但这些设计仍然需要传感高压信号，需要笨重的组件，这阻碍了与微型无系绳软机器人的集成。我们提出了一种电路设计，消除了对任何高压传感元件的需要，从而促进了使用现成元件的简单低成本电路的设计。使用该电路，我们对一系列静电换能器（包括圆形dea和HASEL致动器）进行同步传感和致动，并演示了具有误差的准确估计位移
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 robotic systems with the compliance and resiliency that makes them well adapted for unstructured and dynamic environments. Although actuation mechanisms for soft robots vary widely, soft electrostatic transducers such as dielectric elastomer actuators (DEAs) and hydraulically amplified self-healing electrostatic (HASEL) actuators have demonstrated promise due to their muscle-like performance and capacitive self-sensing capabilities. Despite previous efforts to implement self-sensing in electrostatic transducers by overlaying sinusoidal low-voltage signals, these designs still require sensing high-voltage signals, requiring bulky components that prevent integration with miniature untethered soft robots. We present a circuit design that eliminates the need for any high-voltage sensing components, thereby facilitating the design of simple low cost circuits using off-the-shelf components. Using this circuit, we perform simultaneous sensing and actuation for a range of electrostatic transducers including circular DEAs and HASEL actuators and demonstrate accurate estimated displacements with errors