Timothy G. Morrissey

System Identification and Closed-Loop Control of a Hydraulically Amplified Self-Healing Electrostatic (HASEL) Actuator

This paper describes a system identification method and the development of a closed-loop controller for a Hydraulically Amplified Self-healing Electrostatic (HASEL) actuator. Our efforts focus on developing a reliable and consistent way to identify system models for these soft robotic actuators usin…