Accelerating electro-ionic soft actuators by feedforward control and the performance degradation by voltage limits

Junya Nakada; Mousumi Garai; Toshiki Hiruta; Il-Kwon Oh; Kentaro Takagi

doi:10.1117/12.3010552

9 May 2024 Accelerating electro-ionic soft actuators by feedforward control and the performance degradation by voltage limits

Junya Nakada, Mousumi Garai, Toshiki Hiruta, Il-Kwon Oh, Kentaro Takagi

Author Affiliations +

Proceedings Volume 12948, Soft Mechatronics and Wearable Systems; 129480M (2024) https://doi.org/10.1117/12.3010552
Event: SPIE Smart Structures + Nondestructive Evaluation, 2024, Long Beach, California, United States

Conference Poster

Abstract

Electro-ionic soft actuators have the advantages of being possible to drive at low voltage and to operate in the air by using ionic liquid. However, they have a disadvantage of slow response. This paper proposes to accelerate electro-ionic soft actuators by feedforward control. Feedforward control can automatically generate online pulse-shaped input signals from any reference signals and is easy to implement. The experimental results show that the feedforward control can automatically generate control inputs for any references and achieve 2 times faster than the no-control case. In addition, it was found that the control performance was significantly degraded when a voltage limit was set to protect the actuator.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Junya Nakada, Mousumi Garai, Toshiki Hiruta, Il-Kwon Oh, and Kentaro Takagi "Accelerating electro-ionic soft actuators by feedforward control and the performance degradation by voltage limits", Proc. SPIE 12948, Soft Mechatronics and Wearable Systems, 129480M (9 May 2024); https://doi.org/10.1117/12.3010552

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