DEAP Actuator Composed of a Soft Pneumatic Spring Bias with Pressure Signal Sensing

Dielectric electroactive actuators are novel and significant smart actuators. The crucial aspect of construction of these devices is the bias mechanism. The current literature presents three main types of biases used in the construction of the DEAP actuators. In these solutions, the bias is caused by the action of a spring, a force of a permanent magnet or an applied mass. The purpose of this article is to present a novel type of DEAP bias mechanism using soft pneumatic spring. In contrast to the solutions presented so far, the soft pneumatic spring has been equipped with a sensor that measures the variable pressure of its inner chamber. We performed the modeling process of a soft pneumatic spring with the finite element method to predict its mechanical behavior. Furthermore, a prototype of the soft spring was molded and used to construct a dielectric electroactive polymer actuator. The principle of operation has been confirmed by the experiments with measurement of static and dynamics characteristics. The presented device can be used to control systems with an additional pressure-sensing feedback.