Please use this identifier to cite or link to this item: https://doi.org/10.1109/TMECH.2018.2875521
Title: Dynamic Modeling and Feedforward Control of Jaw Movements Driven by Viscoelastic Artificial Muscles
Authors: UJJAVAL GUPTA 
WANG YUZHE 
REN HONGLIANG 
ZHU JIAN 
Keywords: Artificial muscles, control, creep, dielectric elastomer actuators (DEAs), hysteresis, soft robots, viscoelasticity
Issue Date: 11-Oct-2018
Publisher: IEEE/ASME Transactions on Mechatronics
Citation: UJJAVAL GUPTA, WANG YUZHE, REN HONGLIANG, ZHU JIAN (2018-10-11). Dynamic Modeling and Feedforward Control of Jaw Movements Driven by Viscoelastic Artificial Muscles. IEEE/ASME Transactions on Mechatronics 24 (1) : 25 - 35. ScholarBank@NUS Repository. https://doi.org/10.1109/TMECH.2018.2875521
Rights: CC0 1.0 Universal
Abstract: Artificial muscles based on dielectric elastomer actuators (DEAs) have been used to mimic the motion of the human jaw. However, DEAs show strong nonlinear behavior coupled with rate dependent viscoelastic phenomena. Under cyclic actuation, the viscoelastic creep coupled with hysteresis further makes control of these viscoelastic membranes difficult. In this paper, we develop a nonlinear dynamic model based on the principles of nonequilibrium thermodynamics to account for viscoelasticity. Furthermore, the damping and inertial effects of the jaw and membrane are taken into account, relating the deformation of the membrane to the voltage applied. Experimental results are found to be consistent with theoretical predictions. The feedforward controller is then developed based on a viscoelastic nonlinear dynamic model. The controller can be used to track the sinusoidal, triangular, and staircase trajectories accurately. Finally, a video demonstrating the jaw movement in the speech, “I Have a Dream,” by Dr. Martin Luther King Jr. has been shown to illustrate the effectiveness of the controller. This is one of the first efforts to control of soft robots driven by viscoelastic DEAs.
Source Title: IEEE/ASME Transactions on Mechatronics
URI: https://scholarbank.nus.edu.sg/handle/10635/169719
ISSN: 1083-4435
DOI: 10.1109/TMECH.2018.2875521
Rights: CC0 1.0 Universal
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