Advanced Control of Dielectric Elastomer Actuators

Dielectric Elastomer Actuators (DEAs) are deformable materials frequently employed in soft robotics, distinguished by high energy density. Often referred to artificial muscles, they deform based on the electrostatic principle, where the application of high voltage induces thickness reduction which will lead to an increase of surface in the other directions. This project aims to apply an advanced control algorithm for soft robots to enable small and fast displacements. DEAs are non-linear systems and traditional control strategies like PlDs lack in precision. Thus, the task of this semester project would be to integrate an improved control algorithm (e. g. model predictive control). During the project, the student will do a study on the state of the art, implement the algorithm in a chosen environment (LabView/Python or others possible) and test the functionality by experiments on soft robots. Successful completion of ME-425 Model Predictive Control course is beneficial and recommended.