Actuator and sensor device based on electroactive polymer

摘要

An electroactive material actuator and sensor (22) is actuated with an actuation signal having an activation period for charging the actuator and a de-activation period for discharging the actuator. A parallel resistance (Rp) of the actuator is determined by sensing a steady state current during the activation period and a series capacitance (Cs) of the actuator is determined based on a charge flow during charging of the actuator at the beginning of the activation period. A series resistance (Rs) is obtained by controlling a current through the actuator with an oscillating profile so that a phase relationship of the actuator between current and voltage can be measured. An oscillating current sink is used to enable circuit component measurements, which implement sensing functionality.