Controller of variable stiffness mechanism
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United States of America Patent
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Apr 18, 2017
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app pub date -
Mar 21, 2016
filing date -
Mar 21, 2016
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Abstract
A present invention provides a device capable of controlling a variable stiffness mechanism, which has a dielectric elastomer interposed between two members, so as to suppress an increase in the strain of the dielectric elastomer caused by the creep phenomenon. A power source control unit 21 corrects a reference supply voltage Vbase of an output voltage of a power source 10, which is determined on the basis of a desired degree of stiffness of a dielectric elastomer 1, by a feedback manipulated variable determined on the basis of a difference between a desired value of the capacitance of the elastomer 1 and an estimated value thereof, thereby setting a desired value for controlling the output voltage of the power source 10 in order to control the power source 10 according to the desired value for control.
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