Dielectric elastomer actuators (DEAs) are a promising soft actuator technology for robotics. Adding robotic functionalities—folding, variable stiffness, and adhesion—into their actuator design is a novel method to create functionalized robots with simplified actuator configurations. We first propose a foldable actuator that has a simple antagonistic DEA configuration allowing bidirectional actu...

An isothermal energy balance is formulated for a system consisting of deformable dielectric bodies, electrodes, and the surrounding space. The formulation in this paper is obtained in the electrostatic limit but with the possibility of arbitrarily large deformations of polarizable material. The energy balance recognizes that charges may be driven onto or off of the electrodes, a process accompa...

Abstract: In this study, a new analytical model is developed for an electrostatic Microelectromechanical System (MEMS) cantilever actuator to establish a relation between the displacement of its tip and the applied voltage. The proposed model defines the micro-cantilever as a rigid beam supported by a hinge at the fixed-end with a spring point force balancing the structure. The approach of the ...

the electrohydrodynamic (EHD) flow in a relatively wide electrostatic precipitator (ESP) (width:height = 2) is 2-or 3-dimensional (3D). The previous our measurements of 3D time-averaged flow velocity fields suggested that the flow in the ESP duct centre is almost 2-dimensional. In this paper we present both the 3D instantaneous and time-averaged flow velocity fields in a relatively wide ESP (wi...

abstract: this paper presents dynamic modelling and control of a linear prismatic series of elastic actuator. the capability of generating large torques is why this actuator is increasingly used in human-assistive robotic systems. due to having human in the loop, the actuator requires precise control. a fractional pid controller known for its improved performance is used for the control, due to...

In this article the modeling and control design aspects of an electrostatic microactuator (EmA) with squeezed thin film damping effects are presented. The modeling analysis of the squeezed film damping effect is investigated in the case of an EmA composed by a set of two plates. The bottom plate is clamped to the ground, while the moving plate is driven by an electrically induced force which is...