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About this paper
Michel R. Vogt, Maximilian Eberlein, Clemens C. Christoph, Felix Baumann, Fabrice Bourquin, Wim Wende, Fabio Schaub, Amirhossein Kazemipour and 1 more
Researchers at ETH Zurich developed the Frog-HASEL (F-HASEL) actuator with dedicated low-voltage sensing electrodes, enabling high-frequency (up to 20 Hz) displacement estimation and compatibility with miniature high-voltage power supplies. The approach demonstrated significantly reduced noise and phase lag, allowing for real-time, multi-actuator tracking in a portable virtual reality wearable.
Key insights
- Decoupling sensing from high-voltage actuation via dedicated low-voltage electrodes substantially reduces noise and phase lag, enabling higher frequency operation and compatibility with miniature high-voltage power supplies.
- Symmetric placement of resistors in the sensing circuitry leverages common mode rejection to effectively filter out noise coupled from the high-voltage actuation lines.
- Hysteresis effects observed at higher actuation frequencies (e.g., 10-20 Hz) can be compensated using a dual polynomial mapping approach, adapting sensing based on the actuator's contraction or relaxation phase.
Summary by alphaXiv.
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