Abstract
A new bio-mimetic actuator is proposed. The actuator realizes bidirectional actuation since it is with a stretched film antagonistically configured with compliant electrodes. Also, it is distinguished from existing actuators with respect to the controllability of its compliance. Bidirectional actuation and compliance controllability are important characteristics for the artificial muscle actuator and the proposed one accomplishes these requirements without any mechanical substitute or complicated algorithms. In this paper its basic concepts and working principles are introduced with static and dynamic analysis. Control strategies for displacement as well as stiffness are introduced and experimental results are given to confirm the effectiveness of the proposed methods. In addition, an example of robotic actuating devices is given to confirm the usefulness of the proposed actuator.
