@InProceedings{Berselli2012,
  author    = {Berselli, Giovanni and Vertechy, Rocco and Babi{\v{c}}, Mitja and {Parenti Castelli}, Vincenzo},
  title     = {{Implementation of a Variable Stiffness Actuator Based on Dielectric Elastomers: A Feasibility Study}},
  booktitle = {ASME 2012 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2012},
  year      = {2012},
  pages     = {497},
  month     = {sep},
  publisher = {ASME},
  abstract  = {Dielectric Elastomers (DE) seem to be a promising tech- nology for the implementation of light and compact Variable Stiffness Actuators (VSAs), thanks to their large power densi- ties, low costs and shock-insensitivity. Nonetheless, the de- velopment of DE-based VSA is not trivial owing to the rele- vant dissipative phenomena that affect the DE when subjected to rapidly changing deformations. In this context, the purpose of the present paper is to investigate the practical feasibility of DE-based VSA. As a case study, two conically-shaped actuators, in agonistic-antagonistic configuration, are modeled accounting for the visco-hyperelastic nature of the DE films. The model is then linearized and employed for the design of a stiffness con- troller. The control algorithm requires the knowledge of the ac- tuator configuration (via a position sensor) and of the force ex- changed with the environment (via a force sensor). An optimum full-state observer is then implemented, which enables both ac- curate estimation of the DE time-dependent behavior and ade- quate suppression of sensor measurement noise. At last, exper- imental results are provided together with the description of an effective electronic driver that allows an independent activation ofthe agonistic-antagonistic DE membranes.},
  doi       = {10.1115/SMASIS2012-8144},
  isbn      = {978-0-7918-4509-7},
  type      = {(E) Conference Proceedings},
  url       = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?doi=10.1115/SMASIS2012-8144},
  url_paper = {http://berselli.xara.hosting/berselli_papers/C2012_3.pdf},
}

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Nonetheless, the de- velopment of DE-based VSA is not trivial owing to the rele- vant dissipative phenomena that affect the DE when subjected to rapidly changing deformations. In this context, the purpose of the present paper is to investigate the practical feasibility of DE-based VSA. As a case study, two conically-shaped actuators, in agonistic-antagonistic configuration, are modeled accounting for the visco-hyperelastic nature of the DE films. The model is then linearized and employed for the design of a stiffness con- troller. The control algorithm requires the knowledge of the ac- tuator configuration (via a position sensor) and of the force ex- changed with the environment (via a force sensor). An optimum full-state observer is then implemented, which enables both ac- curate estimation of the DE time-dependent behavior and ade- quate suppression of sensor measurement noise. At last, exper- imental results are provided together with the description of an effective electronic driver that allows an independent activation ofthe agonistic-antagonistic DE membranes.","doi":"10.1115/SMASIS2012-8144","isbn":"978-0-7918-4509-7","url":"http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?doi=10.1115/SMASIS2012-8144","url_paper":"http://berselli.xara.hosting/berselli_papers/C2012_3.pdf","bibtex":"@InProceedings{Berselli2012,\r\n author = {Berselli, Giovanni and Vertechy, Rocco and Babi{\\v{c}}, Mitja and {Parenti Castelli}, Vincenzo},\r\n title = {{Implementation of a Variable Stiffness Actuator Based on Dielectric Elastomers: A Feasibility Study}},\r\n booktitle = {ASME 2012 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2012},\r\n year = {2012},\r\n pages = {497},\r\n month = {sep},\r\n publisher = {ASME},\r\n abstract = {Dielectric Elastomers (DE) seem to be a promising tech- nology for the implementation of light and compact Variable Stiffness Actuators (VSAs), thanks to their large power densi- ties, low costs and shock-insensitivity. Nonetheless, the de- velopment of DE-based VSA is not trivial owing to the rele- vant dissipative phenomena that affect the DE when subjected to rapidly changing deformations. In this context, the purpose of the present paper is to investigate the practical feasibility of DE-based VSA. As a case study, two conically-shaped actuators, in agonistic-antagonistic configuration, are modeled accounting for the visco-hyperelastic nature of the DE films. The model is then linearized and employed for the design of a stiffness con- troller. The control algorithm requires the knowledge of the ac- tuator configuration (via a position sensor) and of the force ex- changed with the environment (via a force sensor). An optimum full-state observer is then implemented, which enables both ac- curate estimation of the DE time-dependent behavior and ade- quate suppression of sensor measurement noise. At last, exper- imental results are provided together with the description of an effective electronic driver that allows an independent activation ofthe agonistic-antagonistic DE membranes.},\r\n doi = {10.1115/SMASIS2012-8144},\r\n isbn = {978-0-7918-4509-7},\r\n type = {(E) Conference Proceedings},\r\n url = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?doi=10.1115/SMASIS2012-8144},\r\n url_paper = {http://berselli.xara.hosting/berselli_papers/C2012_3.pdf},\r\n}\r\n\r\n","author_short":["Berselli, G.","Vertechy, R.","Babič, M.","Parenti Castelli, V."],"key":"Berselli2012","id":"Berselli2012","bibbaseid":"berselli-vertechy-babi-parenticastelli-implementationofavariablestiffnessactuatorbasedondielectricelastomersafeasibilitystudy-2012","role":"author","urls":{"Paper":"http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?doi=10.1115/SMASIS2012-8144"," paper":"http://berselli.xara.hosting/berselli_papers/C2012_3.pdf"},"metadata":{"authorlinks":{}},"downloads":0},"bibtype":"inproceedings","biburl":"http://berselli.xara.hosting/bib/Giovanni_Berselli_papers.bib","creationDate":"2019-07-26T19:52:32.083Z","downloads":0,"keywords":[],"search_terms":["implementation","variable","stiffness","actuator","based","dielectric","elastomers","feasibility","study","berselli","vertechy","babič","parenti castelli"],"title":"Implementation of a Variable Stiffness Actuator Based on Dielectric Elastomers: A Feasibility Study","year":2012,"dataSources":["CT6btJcxgYjHahRRe","4rhp9hfuHXQQqMP7w"]}