Miniature spring roll dielectric elastomer actuators for a novel
kinematic-free force feedback concept were manufactured and experimentally characterized. The actuators exhibited a maximum blocking force of 7.2 N and a displacement of 5 mm. The
theoretical considerations based on the material's incompressibility
were discussed in order to estimate the actuator behavior under
blocked-strain activation and free-strain activation. One prototype
was built for the demonstration of the proposed force feedback
concept.
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