Control method for contract-type gel actuator and control device
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United States of America Patent
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Aug 25, 2015
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Oct 10, 2013
app pub date -
Oct 28, 2011
filing date -
Dec 17, 2010
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Abstract
A method for controlling a displacement in the thickness direction of the contraction-type gel actuator having an effect of contraction in the thickness direction by applying a voltage between an anode and a cathode between which a gel which includes a dielectric polymeric material is interposed, which includes performing feedback control of an applied voltage, with a sampled value of a displacement when the applied voltage acts on the contraction-type gel actuator, according to the following equation (1):
In the equation, xd represents a target displacement of the contraction-type gel actuator; Ed represents an applied voltage with respect to the target displacement xd obtained by the linear approximation of the applied voltage and the displacement from a measured result of the displacement in accordance with the applied voltage of the contraction-type gel actuator; and kp represents a proportional gain.
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