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Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

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Hydraulically Amplified Rigidity-Adaptive Electrostatic Actuators with High Performance and Smooth Motion Control.

Hu Qilin^1,2, Li Yang^1,2, Mei Deqing^1,2

¹State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China.

|February 10, 2025

Summary

We developed a novel hydraulically amplified rigidity-adaptive electrostatic (HARIE) actuator. This innovation significantly boosts performance and control in soft robotics, offering over 200% more angular output than traditional HASEL actuators.

Keywords:

HASEL actuator adaptive rigidity electrostatic force pull-in

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Area of Science:

Soft robotics
Electrostatic actuators
Mechanical engineering

Background:

Hydraulically amplified self-healing electrostatic (HASEL) actuators offer muscle-like activation and rapid operation.
Current HASEL actuator enhancements primarily focus on material innovation.
Pull-in instability limits the performance and controllability of existing HASEL designs.

Purpose of the Study:

Introduce a novel hydraulically amplified rigidity-adaptive electrostatic (HARIE) actuator.
Enhance HASEL actuator performance and controllability by addressing pull-in instability.
Demonstrate the architectural strategy's effectiveness beyond material innovation.

Main Methods:

Designed and fabricated a novel HARIE actuator.
Experimental evaluation of angular output and torque compared to HASEL actuators.
Demonstrated practical applications including object grasping and laser manipulation.

Main Results:

HARIE actuators achieved over 200% increase in angular output compared to HASEL actuators with flexible electrodes.
HARIE actuators exhibited smoother motion control with a maximum step of 21.8°/kV.
Successfully demonstrated grasping of delicate and heavy objects, and precise laser manipulation.

Conclusions:

The rigidity-adaptive method significantly enhances HASEL actuator performance.
HARIE actuators offer improved angular output, torque, and controllability.
This architectural approach provides a viable strategy for advancing soft robotic actuator technology.