Dynamic response characterization of soft fluidic actuators via dielectric elastomer sensors
Penulis/Author
Haruyuki Kurata (1); Ardi Wiranata, S.T., M. Eng., Ph.D (2); Shingo Maeda (3); David Garcia Cava (4); Francesco Giorgio-Serchi (5); Naoki Hosoya (6)
Tanggal/Date
2025
Kata Kunci/Keyword
Abstrak/Abstract
Fluidic Elastomer Actuators (FEAs) consist of mechanical system capable of undergoing large deformations by
means of controlled pneumatic or hydraulic driving force and whose application is becoming widespread across
robotics, biomedical devices and even construction engineering. Owing to the large extent of deformation which
these systems can undergo, undertaking the simultaneous characterization of their actuation and dynamic
response is extremely daunting because it requires dedicated sensing technology with the capability to withstand
extensive strains and high sampling frequency. However, suitable sensors for state estimation of soft fluidic
actuators is necessary in order to monitor their structural health as well as perform accurate closed-loop feedback
control. To this end, in this study we present a Dielectric Elastomer Sensor (DES) that captures the vibration
response of a stereotypical soft fluidic system with a free curved surface subject to substantial deformation under
the effect of pneumatic actuation. The DES consists of polydimethylsiloxane (PDMS), which was prepared with
its elastomer base and curing agent mixed in three different ratios, and carbon nanotubes as the electrode ma
terial. The DES manifests linear response to vibration amplitude of the actuated body during vibrational test over
measurable frequency up to 100 Hz. The static deformation and vibration amplitude were measured as changes
in capacitance across the DES showing that hysteresis during static deformation and cyclic testing is negligible.
The sensitivity of the DES while sensing both the static deformation and vibration amplitude of the FEA increased
as the static pressure decreased, which followed an exponential function. These results highlight how DES may
constitute a valuable sensing device for capturing fast dynamic response of highly deformable devices or
structure, pointing at the chance to adopt them in soft robotics control and structural monitoring
