Mr. Scott H. Walbran Profile

Scott H. Walbran

at Univ of Auckland

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Proceedings Article | 6 April 2009 Paper

Optimization of electrode placement in electromyographic control of dielectric elastomers

Scott Walbran, Emilio Calius, G. Reg Dunlop, Iain Anderson

Proceedings Volume 7287, 728724 (2009) https://doi.org/10.1117/12.815833

KEYWORDS: Electrodes, Action potentials, Electromyography, Ions, Skin, Filtering (signal processing), Feature extraction, Electronic filtering, Dielectrics, Control systems

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Human intention recognition is becoming a key part of powered prosthetics research. With the advent of smart materials, the usefulness of powered prosthetics has increased. Correspondingly, there is a greater need for control technology. Electromyography (EMG) has previously been used to control myoelectric hands; however the approach to electrode placement has been speculative at best. Carpi, Raspopovic and De Rossi have shown that dielectric elastomer actuators (DEAs) can be controlled by a variety of human electrophysiological signals, including EMG. To control a DEA device with multiple degrees of freedom using EMG, multiple electrode sites are required. This paper presents an approach to control an array of DEAs using a series of electrodes and an optimized electrode data filtering scheme to maximize classification accuracy when differentiating between hand grasps. A silicon mould of a human forearm was created with an array of electrodes embedded within it. Data from each electrode site was recorded using the Universal Electrophysiological Mapping (UnEmap) system developed at the University of Auckland Bioengineering Institute for the amplification and filtering of multiple biopotential signals. The recorded data was then processed off-line, in order to calculate spatial gradients; this would determine which electrode sites would give the best bipolar readings. The spatial gradients were then compared to each other in order to find the optimal electrode sites. Several points in the extensor compartment of the forearm were found to be useful in recognizing grasping, while several points in the flexor compartment of the forearm were found to be useful in differentiating between grasps.

Proceedings Article | 6 April 2009 Paper

A dielectric elastomer actuator thin membrane rotary motor

Iain Anderson, Emilio Calius, Todd Gisby, Thom Hale, Thomas McKay, Benjamin O'Brien, Scott Walbran

Proceedings Volume 7287, 72871H (2009) https://doi.org/10.1117/12.815823

KEYWORDS: Finite element methods, Dielectrics, Dielectric elastomer actuators, Prototyping, Manufacturing, Artificial muscles, Electrodes, Actuators, Data modeling, Teeth

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We describe a low profile and lightweight membrane rotary motor based on the dielectric elastomer actuator (DEA). In this motor phased actuation of electroded sectors of the motor membrane imparts orbital motion to a central gear that meshes with the rotor. Two motors were fabricated: a three phase and four phase with three electroded sectors (120°/sector) and four sectors (90°/sector) respectively. Square segments of 3M VHB4905 tape were stretched equibiaxially to 16 times their original area and each was attached to a rigid circular frame. Electroded sectors were actuated with square wave voltages up to 2.5kV. Torque/power characteristics were measured. Contactless orbiter displacements, measured with the rotor removed, were compared with simulation data calculated using a finite element model. A measured specific power of approximately 8mW/g (based on the DEA membrane weight), on one motor compares well with another motor technology. When the mass of the frame was included a peak specific power of 0.022mW/g was calculated. We expect that motor performance can be substantially improved by using a multilayer DEA configuration, enabling the delivery of direct drive high torques at low speeds for a range of applications. The motor is inherently scalable, flexible, flat, silent in operation, amenable to deposition-based manufacturing approaches, and uses relatively inexpensive materials.

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