IEEE Organizations related to Dielectric Elastomer Actuators

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Conferences related to Dielectric Elastomer Actuators

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2021 IEEE International Conference on Mechatronics (ICM)

CM focuses on recent developments and future prospects related to the synergetic integration of mechanics, electronics, and information processing.


2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)

The conference program will consist of plenary lectures, symposia, workshops and invitedsessions of the latest significant findings and developments in all the major fields of biomedical engineering.Submitted papers will be peer reviewed. Accepted high quality papers will be presented in oral and postersessions, will appear in the Conference Proceedings and will be indexed in PubMed/MEDLINE


2020 IEEE Haptics Symposium (HAPTICS)

Held since 1992, the IEEE Haptics Symposium (HAPTICS) is a vibrant interdisciplinary forum where psychophysicists, engineers, and designers come together to share advances, spark new collaborations, and envision a future that benefits from rich physical interactions between humans and computers, generated through haptic (force and tactile) devices.

  • 2006 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems

  • 2008 16th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (Haptics 2008)

    The Haptics Symposium is an annual, single-track conference that brings together researchers in diverse engineering and human science disciplines who are interested in the design, analysis, and evaluation of systems that display haptic (force and touch) information to human operators.

  • 2010 IEEE Haptics Symposium (Formerly known as Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems)

    The Haptics Symposium is a bi-annual, single-track conference that brings together researchers who are advancing the human science, technology and design processes underlying haptic (force and tactile) interaction systems. Our community spans the disciplines of biomechanics, psychology, neurophysiology, engineering, human-computer interaction and computer science.

  • 2012 IEEE Haptics Symposium (HAPTICS)

    This conference brings together researchers in diverse engineering and human science disciplines who are interested in the design, analysis, and evaluation of systems that display haptic (force and touch) information to human operators, and the study of the human systems involved in haptic interaction.

  • 2014 IEEE Haptics Symposium (HAPTICS)

    This conference brings together researchers in diverse engineering and human science disciplines who are interested in the design, analysis, and evaluation of systems that display haptic (force and touch) information to human operators, and the study of the human systems involved in haptic interacti

  • 2016 IEEE Haptics Symposium (HAPTICS)

    Held since 1992, the IEEE Haptics Symposium (HAPTICS) is a vibrant interdisciplinary forum where psychophysicists, engineers, and designers come together to share advances, spark new collaborations, and envision a future that benefits from rich physical interactions between humans and computers, generated through haptic (force and tactile) devices. In 2016, this conference will be held in central Philadelphia, one of the most historic and beautiful cities in North America. HAPTICS 2016 will be a four-day conference with a full day of tutorials and workshops and three days of conference activities including technical paper presentations and hands-on demonstrations.Features:ExhibitsWorkshops and TutorialsHands-on Demonstrations

  • 2018 IEEE Haptics Symposium (HAPTICS)

    Held since 1992, the IEEE Haptics Symposium (HAPTICS) is a vibrant interdisciplinary forum where psychophysicists, engineers, and designers come together to share advances, spark new collaborations, and envision a future that benefits from rich physical interactions between humans and computers, generated through haptic (force and tactile) devices.


OCEANS 2020 - SINGAPORE

An OCEANS conference is a major forum for scientists, engineers, and end-users throughout the world to present and discuss the latest research results, ideas, developments, and applications in all areas of oceanic science and engineering. Each conference has a specific theme chosen by the conference technical program committee. All papers presented at the conference are subsequently archived in the IEEE Xplore online database. The OCEANS conference comprises a scientific program with oral and poster presentations, and a state of the art exhibition in the field of ocean engineering and marine technology. In addition, each conference can have tutorials, workshops, panel discussions, technical tours, awards ceremonies, receptions, and other professional and social activities.

  • OCEANS 2005 - EUROPE

  • OCEANS 2006 - ASIA PACIFIC

  • OCEANS 2007 - EUROPE

    The theme 'Marine Challenges: Coastline to Deep Sea' focuses on the significant challenges, from the shallowest waters around our coasts to the deepest subsea trenches, that face marine, subsea and oceanic engineers in their drive to understand the complexities of the world's oceans.

  • OCEANS 2008 - MTS/IEEE Kobe Techno-Ocean

  • OCEANS 2009 - EUROPE

  • OCEANS 2010 IEEE - Sydney

  • OCEANS 2011 - SPAIN

    All Oceans related technologies.

  • OCEANS 2012 - YEOSU

    The OCEANS conferences covers four days with tutorials, exhibits and three days of parallel tracks that address all aspects of oceanic engineering.

  • OCEANS 2013 - NORWAY

    Ocean related technologies. Program includes tutorials, three days of technical papers and a concurrent exhibition. Student poster competition.

  • OCEANS 2014 - TAIPEI

    The OCEANS conference covers all aspects of ocean engineering from physics aspects through development and operation of undersea vehicles and equipment.

  • OCEANS 2015 - Genova

    The Marine Technology Society and the Oceanic Engineering Society of IEEE cosponsor a joint annual conference and exposition on ocean science, engineering and policy. The OCEANS conference covers four days. One day for tutorials and three for approx. 450 technical papers and 50-200 exhibits.

  • OCEANS 2016 - Shanghai

    Papers on ocean technology, exhibits from ocean equipment and service suppliers, student posters and student poster competition, tutorial on ocean technology, workshops and town hall meetings on policy and governmental process.

  • OCEANS 2017 - Aberdeen

    Papers on ocean technology, exhibits from ocean equipment and service suppliers, student posters and student poster competition, tutorials on ocean technology, workshops and town hall meetings on policy and governmental process.

  • 2018 OCEANS - MTS/IEEE Kobe Techno-Ocean (OTO)

    The conference scope is to provide a thematic umbrella for researchers working in OCEAN engineering and related fields across the world to discuss the problems and potential long term solutions that concernnot only the oceans in Asian pacific region, but the world ocean in general.

  • OCEANS 2019 - Marseille

    Research, Development, and Operations pertaining to the Oceans


2020 IEEE International Conference on Industrial Technology (ICIT)

ICIT focuses on industrial and manufacturing applications of electronics, controls, communications, instrumentation, and computational intelligence.



Periodicals related to Dielectric Elastomer Actuators

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Most published Xplore authors for Dielectric Elastomer Actuators

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Xplore Articles related to Dielectric Elastomer Actuators

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Parallel Compensation control for Tube-type Dielectric elastomer actuator

2018 International Conference on Advanced Mechatronic Systems (ICAMechS), 2018

Recently, dielectric elastomer actuator (DEA) has been paid more attention because of its prominent characteristics such as high response, large stretch rate, lightweight etc. However, DEA has hysteresis that may lead the system to exhibit inaccuracies or oscillations and even instability. In this paper, a novel parallel compensation control system is designed for tube-type DEA to compensate the effect of ...


Design and Analysis of Bistable Dielectric Elastomer Actuator with Buckling Beam

2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2018

Dielectric elastomer actuators (DEAs) is an emerging soft actuator with attributes of flexibility, large strain, and high energy density. Bistable mechanisms have two force-free stable equilibrium positions in their range of motion, which can hold for a long time without energy consumption. In the present work, a design of bistable system is proposed, consisting of a cross- like shape buckling ...


Feedforward Control of the Rate-Dependent Viscoelastic Hysteresis Nonlinearity in Dielectric Elastomer Actuators

IEEE Robotics and Automation Letters, 2019

Dielectric elastomer actuators have shown promising applications in the field of soft robotics. However, due to their rate-dependent viscoelastic hysteresis nonlinearity, it is still challenging to achieve precision tracking control of dielectric elastomer actuators. In this letter, we propose a feedforward control approach that can compensate for the rate-dependent viscoelastic hysteresis nonlinearity with maximum tracking errors of 6.18% and root- ...


High-Precision Tracking Control of a Soft Dielectric Elastomer Actuator With Inverse Viscoelastic Hysteresis Compensation

IEEE/ASME Transactions on Mechatronics, 2019

In this paper, we present a new control approach for high-precision tracking control of a soft dielectric elastomer actuator (DEA) with inverse viscoelastic hysteresis compensation. To this end, we first investigate the viscoelastic response of the DEA and divide it into transition region and stable region. Then, the viscoelastic response is characterized by creep and hysteresis effects according to the ...


A Modular Dielectric Elastomer Actuator to Drive Miniature Autonomous Underwater Vehicles

2018 IEEE International Conference on Robotics and Automation (ICRA), 2018

In this paper we present the design of a fin-like dielectric elastomer actuator (DEA) that drives a miniature autonomous underwater vehicle (AUV). The fin-like actuator is modular and independent of the body of the AUV. All electronics required to run the actuator are inside the 100 mm long 3D-printed body, allowing for autonomous mobility of the AUV. The DEA is ...



Educational Resources on Dielectric Elastomer Actuators

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IEEE-USA E-Books

  • Parallel Compensation control for Tube-type Dielectric elastomer actuator

    Recently, dielectric elastomer actuator (DEA) has been paid more attention because of its prominent characteristics such as high response, large stretch rate, lightweight etc. However, DEA has hysteresis that may lead the system to exhibit inaccuracies or oscillations and even instability. In this paper, a novel parallel compensation control system is designed for tube-type DEA to compensate the effect of hysteresis. In details, a modified play-type Prandtl- Ishlinskii hysteresis model is built to describe the tube-type DEA. Then, based on properties between play and stop hysteresis operators, a parallel compensator is constructed by using stop hysteresis operator. For rejecting the effect of input disturbance and plant perturbation, disturbance observer (DOB) is designed. To guarantee the tracking performance of the system, a tracking controller is also designed. Finally, simulation results verify the effectiveness of the proposed method.

  • Design and Analysis of Bistable Dielectric Elastomer Actuator with Buckling Beam

    Dielectric elastomer actuators (DEAs) is an emerging soft actuator with attributes of flexibility, large strain, and high energy density. Bistable mechanisms have two force-free stable equilibrium positions in their range of motion, which can hold for a long time without energy consumption. In the present work, a design of bistable system is proposed, consisting of a cross- like shape buckling beam and two conical dielectric elastomer actuators. Analytical model has been developed to analyze the electromechanical coupling behavior of dielectric elastomer and the force-displacement relationship of the cross-like shape buckling beam. The working principle of the bistable conical DEAs is explained in terms of force equilibrium method and internal energy of the system. A bistable dielectric elastomer actuator with a switching force of 0.05 N and a stroke of 5.65 mm is developed to validate the analytical model of the conical DEAs, pre-compressed bistable cross-like beam, and the design.

  • Feedforward Control of the Rate-Dependent Viscoelastic Hysteresis Nonlinearity in Dielectric Elastomer Actuators

    Dielectric elastomer actuators have shown promising applications in the field of soft robotics. However, due to their rate-dependent viscoelastic hysteresis nonlinearity, it is still challenging to achieve precision tracking control of dielectric elastomer actuators. In this letter, we propose a feedforward control approach that can compensate for the rate-dependent viscoelastic hysteresis nonlinearity with maximum tracking errors of 6.18% and root- meansquare errors of 2.96% when the frequency of the input voltage is between 0.05 Hz and 1.5 Hz. Our control approach consists of two feedforward compensators: 1) for the ease of the hysteresis compensation, a creep compensator is firstly developed to remove the viscoelastic creep nonlinearity; 2) based on a phenomenological mathematical model, an inverse hysteresis compensator is then developed to compensate for the rate-dependent viscoelastic hysteresis nonlinearity. Experimental results of tracking various periodic trajectories demonstrate that: the maximum tracking errors are reduced by 87.17% and the root-mean-square errors are decreased by 89.53%, by comparing the results without the viscoelastic compensation. It is the first time to successfully compensate for both the viscoelastic creep nonlinearity and rate-dependent hysteresis nonlinearity of dielectric elastomer actuators by a feedforward control approach, which may pave the way for further applications in dielectric-elastomer-actuators based soft robotics.

  • High-Precision Tracking Control of a Soft Dielectric Elastomer Actuator With Inverse Viscoelastic Hysteresis Compensation

    In this paper, we present a new control approach for high-precision tracking control of a soft dielectric elastomer actuator (DEA) with inverse viscoelastic hysteresis compensation. To this end, we first investigate the viscoelastic response of the DEA and divide it into transition region and stable region. Then, the viscoelastic response is characterized by creep and hysteresis effects according to the different features of the two regions. Finally, a two-level tracking control approach is developed as follows: a direct inverse hysteresis compensation controller with a phenomenological hysteresis model is designed for the viscoelastic hysteresis description and compensation, and a conventional proportional-integral feedback controller is combined to compensate for the model uncertainty and creep effect. To verify the effectiveness of the developed tracking control approach, several experiments are conducted with various reference sinusoidal trajectories. Experimental results show that: when the frequency of the trajectory is within the range of 0.1 to 1 Hz, the maximum tracking error and the root-mean-square error decrease from 40.63% to 3.95% and 28.38% to 1.86%, respectively. This paper is the first attempt to achieve high-precision tracking control of soft DEAs by combining a phenomenological-model feedforward compensator and a feedback control law for the viscoelastic compensation, which may accelerate the practical applications of DEAs to soft robots.

  • A Modular Dielectric Elastomer Actuator to Drive Miniature Autonomous Underwater Vehicles

    In this paper we present the design of a fin-like dielectric elastomer actuator (DEA) that drives a miniature autonomous underwater vehicle (AUV). The fin-like actuator is modular and independent of the body of the AUV. All electronics required to run the actuator are inside the 100 mm long 3D-printed body, allowing for autonomous mobility of the AUV. The DEA is easy to manufacture, requires no pre-stretch of the elastomers, and is completely sealed for underwater operation. The output thrust force can be tuned by stacking multiple actuation layers and modifying the Young's modulus of the elastomers. The AUV is reconfigurable by a shift of its center of mass, such that both planar and vertical swimming can be demonstrated on a single vehicle. For the DEA we measured thrust force and swimming speed for various actuator designs ran at frequencies from 1 Hz to 5 Hz. For the AUV we demonstrated autonomous planar swimming and closed-loop vertical diving. The actuators capable of outputting the highest thrust forces can power the AUV to swim at speeds of up to 0.55 body lengths per second. The speed falls in the upper range of untethered swimming robots powered by soft actuators. Our tunable DEAs also demonstrate the potential to mimic the undulatory motions of fish fins.

  • Displacement improvement from variable pre-stretch diaphragm type Dielectric Elastomer Actuator

    Dielectric Elastomer Actuator (DEA) is a promising technology for artificial muscle applications based on its large voltage-induced displacement and the ability to generate a large variety of motion. This paper presents a DEA based on a modified diaphragm configuration that improves electrically-induced displacement. Existing diaphragm DEAs are equal-biaxially pre-stretched before being constrained by rigid inner and outer rings. In this paper, we first apply equal-biaxial pre-stretch, and then relax its radial pre-stretch before securing it on the outer ring. By doing this, we allow the actuation space in a radial direction to be increased. Both analysis and experiment show significant improvement in actuation as compared to an equal-biaxially-secured one. Our analysis predicted a 53% more electrically-induced displacement as compared to that of equal-biaxially pre-stretched DEAs. Our experiments further showed that when actuated near electrical breakdown, a variable pre- stretched DEA can actuate more than 50% in its out-of-plane displacement with dead load. At large displacement, the output force of our modified DEA is also higher, thus increasing the stored mechanical energy. We hope to expand the applications of diaphragm DEAs with a variable pre-stretched diaphragm in robotic applications.

  • Two-types Force Controllers for a Prismatic Actuation Module Redundantly Driven by Multiple Sheet-type Dielectric Elastomer Actuators

    A prismatic actuation module redundantly driven by multiple sheet-type dielectric elastomer actuators (DEAs) is developed, and two-types force controllers are proposed to make it control its tensile force with overcoming two representative drawbacks of DEAs. One of two drawbacks of DEAs is a narrow dynamic range of an output force. To cope with this drawback, a force controller that can change the number of activated actuators according to a desired tensile force is proposed. This controller makes it possible to expand the range of output force according to the number of the activated actuators. The other drawback is a short durability, especially breakdown easily occurs when the maximum voltage is steadily inputted. To overcome this drawback, another force controller that can drive the module by activating the only one of several elastomer actuators alternatively depending on time in order for an activating time of the actuator to be short is proposed. This controller makes it possible to reduce the activating time of one actuator with maintaining a desired total output force of the module. First, a prototype of the proposed module is developed, and next, the effectiveness of the proposed two-types force controllers is demonstrated through experiments using the prototype.



Standards related to Dielectric Elastomer Actuators

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