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CONTROL METHOD FOR CONTRACT-TYPE GEL ACTUATOR

外国特許コード F120006990
整理番号 S2012-0428-N0
掲載日 2012年10月29日
出願国 世界知的所有権機関(WIPO)
国際出願番号 2011JP074927
国際公開番号 WO 2012/081314
国際出願日 平成23年10月28日(2011.10.28)
国際公開日 平成24年6月21日(2012.6.21)
優先権データ
  • 特願2010-281235 (2010.12.17) JP
発明の名称 (英語) CONTROL METHOD FOR CONTRACT-TYPE GEL ACTUATOR
発明の概要(英語)

Provided is a control method for a contract-type gel actuator that can control an action of the contract-type gel actuator with high accuracy and can be used for position control and the like. The control method for a contract-type gel actuator including gels (13a, 13b) of dielectric polymeric material interposed between an anode (14) and a cathode (12), the method controlling a displacement in the thickness direction of a contract-type gel actuator (10), which contracts in the thickness direction by applying voltage between the anode (14) and the cathode (12), and performs the feedback control of an applied voltage (E), with a sampled value of a displacement (x) when the applied voltage (E) is made to act on the contract-type gel actuator (10), on the basis of the following equation (1): E = kp (xd - x) + Ed (1). In the equation, xd represents the target displacement of the contract-type gel actuator

Ed represents an applied voltage with respect to the target displacement (xd) obtained by the linear approximation of the applied voltage and the displacement from an observation result of the displacement in accordance with the applied voltage of the contract-type gel actuator

and kp represents the proportional gain.

  • 出願人(英語)
  • ※2012年7月以前掲載分については米国以外のすべての指定国
  • SHINSHU UNIVERSITY,
  • HASHIMOTO, MINORU,
  • SHIBAGAKI, MINAMI
  • 発明者(英語)
  • HASHIMOTO, MINORU,
  • SHIBAGAKI, MINAMI
国際特許分類(IPC)
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