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This paper presents an interaction control algorithm for a dielectric elastomer (DE) membrane actuator. The proposed method permits to efficiently exploit the controllable stiffness of the material, and use it as a “programmable spring”, thus enhancing its use in applications such as robotic manipulation or haptic devices. To achieve this goal, a design algorithm based on linear matrix inequalities...
This paper deals with the control of a micrometric positioning system based on an innovative Dielectric Electro-Active Polymer (DEAP) membrane. The membrane generates motion by means of the interaction between a preloading force and the compressive forces between the compliant electrodes surrounding the surface of the polymer. In particular, in this paper the preloading force is generated by a bistable...
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