Parameter Fitting for Soft Dielectric Elastomer Actuator

Abstract

Big progress has been made recently in humanoid robotics with the development of human like robots. Humanoid robots are becoming more and more similar to humans, but what they still lack are proper mechanical actuators which are still based on rotary motors or pneumatic cylinders. With the development of soft actuators one is getting closer to mimic the natural behavior of muscles. Dielectric elastomer actuators can be used as soft actuators. They can be described with fractional derivative Kelvin-Voigt model. With the help of fractional derivatives and least-square method one can use this combination in algorithm for parameter fitting. Fractional Kelvin-Voigt model can describe wider working frequency range of dielectric elastomer actuator as can basic Kelvin-Voigt model do.