High-Frequency Capacitive Sensing for Electrohydraulic Soft Actuators
arxiv(2024)
摘要
The need for compliant and proprioceptive actuators has grown more evident in
pursuing more adaptable and versatile robotic systems. Hydraulically Amplified
Self-Healing Electrostatic (HASEL) actuators offer distinctive advantages with
their inherent softness and flexibility, making them promising candidates for
various robotic tasks, including delicate interactions with humans and animals,
biomimetic locomotion, prosthetics, and exoskeletons. This has resulted in a
growing interest in the capacitive self-sensing capabilities of HASEL actuators
to create miniature displacement estimation circuitry that does not require
external sensors. However, achieving HASEL self-sensing for actuation
frequencies above 1 Hz and with miniature high-voltage power supplies has
remained limited. In this paper, we introduce the F-HASEL actuator, which adds
an additional electrode pair used exclusively for capacitive sensing to a
Peano-HASEL actuator. We demonstrate displacement estimation of the F-HASEL
during high-frequency actuation up to 20 Hz and during external loading using
miniaturized circuitry comprised of low-cost off-the-shelf components and a
miniature high-voltage power supply. Finally, we propose a circuitry to
estimate the displacement of multiple F-HASELs and demonstrate it in a wearable
application to track joint rotations of a virtual reality user in real-time.
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