A self-sensing dielectric elastomer actuator

Abstract

A novel self-sensing method based on the dielectric elastomer (DE) actuator/sensor, was successfully developed and evaluated in order to extract accurate displacement information during the actuation process without using any additional sensing device. The proposed self-sensing method is based on a capacitance characteristic of a DE actuator. The DE actuator with a serial external resistor can serve as an electrical high-pass filter. The voltage gained using the high-pass filter, which is virtually built by the DE, varies due to the change of overall capacitance when the DE actuator is expanded electro-mechanically. To realize actuating and sensing simultaneously with a DE actuator, we used a modulation technique to mix signals, which have a low frequency signal for actuating and a high frequency with small amplitude for sensing. Several experiments were performed to verify the usability of the proposed self-sensing method. The results showed a fine resolution and an excellent correlation with the displacements measured by a laser displacement sensor.