用于电液软体执行器的高频电容传感
High-Frequency Capacitive Sensing for Electrohydraulic Soft Actuators
AI总结：
针对 HASEL 执行器高频自感知难题，提出增设专用传感电极对的 F-HASEL，并以微型低成本电路实现 20 Hz 驱动及加载下的位移估计与多执行器可穿戴实时关节追踪。
摘要：
在追求更具适应性和多功能性的机器人系统时，对柔顺且具有本体感知能力的执行器的需求变得愈发明显。液压放大自愈静电（HASEL）执行器凭借其固有的柔软性和灵活性提供了独特优势，使其成为各类机器人任务的有力候选，包括与人类和动物的精细交互、仿生运动、假肢和外骨骼。这使得人们越来越关注 HASEL 执行器的电容自感知能力，以构建无需外部传感器的微型位移估计电路。然而，在驱动频率高于 1 Hz 且使用微型高压电源的情况下实现 HASEL 自感知仍然受限。本文提出 F-HASEL 执行器，在 Peano-HASEL 执行器上增加一对专用于电容传感的额外电极。我们利用由低成本现成元件和微型高压电源组成的微型电路，展示了 F-HASEL 在高达 20 Hz 的高频驱动期间以及外部加载期间的位移估计。最后，我们提出了一种用于估计多个 F-HASEL 位移的电路，并在可穿戴应用中进行了演示，以实时追踪虚拟现实用户的关节旋转。
英文摘要：
The need for compliant and proprioceptive actuators has grown more evident in pursuing more adaptable and versatile robotic systems. Hydraulically Amplified Self-Healing Electrostatic (HASEL) actuators offer distinctive advantages with their inherent softness and flexibility, making them promising candidates for various robotic tasks, including delicate interactions with humans and animals, biomimetic locomotion, prosthetics, and exoskeletons. This has resulted in a growing interest in the capacitive self-sensing capabilities of HASEL actuators to create miniature displacement estimation circuitry that does not require external sensors. However, achieving HASEL self-sensing for actuation frequencies above 1 Hz and with miniature high-voltage power supplies has remained limited. In this paper, we introduce the F-HASEL actuator, which adds an additional electrode pair used exclusively for capacitive sensing to a Peano-HASEL actuator. We demonstrate displacement estimation of the F-HASEL during high-frequency actuation up to 20 Hz and during external loading using miniaturized circuitry comprised of low-cost off-the-shelf components and a miniature high-voltage power supply. Finally, we propose a circuitry to estimate the displacement of multiple F-HASELs and demonstrate it in a wearable application to track joint rotations of a virtual reality user in real-time.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
