Dielectric elastomer actuators - On the way to new actuation-systems driving future assistive, compliant and safe robots and prostheses

Reitelshöfer S, Landgraf M, Yoo IS, Hörber J, Ramer C, Ziegler C, Franke J (2014)

Publication Type: Conference contribution, Conference Contribution

Publication year: 2014

Pages Range: 803-808

Conference Proceedings Title: 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

Event location: Sao Paulo

DOI: 10.1109/BIOROB.2014.6913877

Abstract

For almost 20 years, dielectric elastomer actuators (DEAs) have been the subject of intense research in material science. A large number of publications describe artificial muscles based on DEAs as a promising alternative for an energy efficient, lightweight and flexible actuation architecture. DEAs could improve and extend the capabilities of robotic and prosthetic devices in terms of their dynamical performance and their eligibility for energy autarkic operation. However, up to now DEAs are not available on a large scale with reproducible characteristics nor are they yet usable on a system integration level. In this paper we present recent findings of our ongoing five-year project to qualify DEAs as feasible artificial muscles for usage in compliant robot kinematics and soft prosthetic devices. The focus of this contribution lies on a new automated production process using Aerosol Jet Printing for stacked DEAs with very thin layers for reduced driving voltages and improved mechanical characteristics resulting from the additive manufacturing. Secondly, a new set of lightweight power electronics based on pulse width modulation (PWM) is presented which aims at the improvement of the overall specific power of DEA driven kinematic systems.

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How to cite

APA:

Reitelshöfer, S., Landgraf, M., Yoo, I.S., Hörber, J., Ramer, C., Ziegler, C., & Franke, J. (2014). Dielectric elastomer actuators - On the way to new actuation-systems driving future assistive, compliant and safe robots and prostheses. In 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (pp. 803-808). Sao Paulo, BR.

MLA:

Reitelshöfer, Sebastian, et al. "Dielectric elastomer actuators - On the way to new actuation-systems driving future assistive, compliant and safe robots and prostheses." Proceedings of the 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2014), Sao Paulo 2014. 803-808.

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