Abstract

This paper explores the control issue of soft dielectric elastomer actuators (DEAs). Inspired by the similarities between DEAs and biological muscles, an antagonistic actuation mechanism is proposed for DEAs control. Because the actions of the agonist can be compensated by the antagonist, the viscoelastic effects of the DEAs in antagonistic pairs can be compensated by each other. In addition, to study the proposed actuation mechanism, a simple 1-degree-of-freedom manipulator based on two DEAs in an antagonistic pair is developed as a study platform and a proportional-integral-derivative controller is designed to control the behavior of the manipulator. Finally, several experiments are conducted to verify the proposed system.

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