Nonlinear control and simulation of a dielectric elastomer actuator-based compression bandage on flexible human calf

Abstract

Compression bandages are widely used for a number of disorders associated with lower human leg including edema, orthostatic hypotension and deep vein thrombosis. In recent years, dielectric elastomer actuators (DEAs) are proposed to be used as active compression bandage to potentially augment or treat the lower leg disorders. DEA bandage applies a variable compression around the leg that varies upon voltage stimulation in the DEA. Prediction and control of the DEA behavior interacting with a soft object like human calf can be a very challenging and complex problem. In this paper a nonlinear analytical model is developed to represent the interaction between a silicon-based DEA compression bandage and soft human calf. An input-output linearization control strategy is utilized to design a controller that applies a desired compression profile to the calf. Lastly, MATLAB Simulink is used to simulate and illustrate the performance of the controller and the model.