Cisneros, Nelson (FEMTO-ST), Wu, Yongxin (Université Marie et Louis Pasteur - SUPMICROTECH), Rabenorosoa, Kanty (UBFC/FEMTO-ST), Le Gorrec, Yann (FEMTO-ST, SupMicroTech Besançon)

Dynamic Modeling of a Curling HASEL Actuator Using the Port Hamiltonian Framework with Experimental Validation

Scheduled for presentation during the Invited Session "Design and control coupling in deformable mechatronic and robotic systems for physical interactions with humans" (WeAT3), Wednesday, July 16, 2025, 11:20−11:40, Room 107

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

This paper addresses the modeling, parameter identification, and validation of curling Hydraulically Amplified Self-healing Electrostatic (HASEL) actuators using the port Hamiltonian (PH) framework. Employing a modular approach, the HASEL actuator is conceptualized as a combination of elementary subsystems. Each subsystem includes electrical and mechanical components. The electrical component is characterized by a variable capacitor in parallel with a resistor branch, which is in series with another capacitor that is also in parallel with a resistor branch, representing charge retention-related drift. The mechanical component consists of linear and torsional springs connected to an equivalent mass. The parameters of the proposed model were identified using the Levenberg-Marquardt optimization algorithm with data from the developed experimental setup. Additional sets of experimental data were used to validate the obtained model.