Dynamic modeling of a curling HASEL actuator using the port Hamiltonian framework with experimental validation

Authors

Nelson Cisneros, Yongxin Wu, Kanty Rabenorosoa, Yann Le Gorrec

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.

Keywords

HASEL actuators; Soft actuators; Nonlinear systems modeling; Port-Hamiltonian systems

Citation

• Journal: Mechatronics
• Year: 2025
• Volume: 109
• Issue:
• Pages: 103342
• Publisher: Elsevier BV
• DOI: 10.1016/j.mechatronics.2025.103342

BibTeX

@article{Cisneros_2025,
  volume={109},
  ISSN={0957-4158},
  DOI={10.1016/j.mechatronics.2025.103342},
  journal={Mechatronics},
  publisher={Elsevier BV},
  author={Cisneros, Nelson and Wu, Yongxin and Rabenorosoa, Kanty and Le Gorrec, Yann},
  year={2025},
  pages={103342}
}

Download the bib file

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