Abstract: The invention provides an electric circuit device including a conductive element configured to provide an electrical input to an electrical component, the resistivity of the conductive element being variable based at least on the extent of deformation thereof, and a deformable body coupled directly or indirectly to, or integral with, the conductive element such that deformation of the body causes the conductive element to deform, thereby varying the resistance thereof and altering the input to the electrical component. Said devices may be used singularly or in combination as logic elements within electrical circuits, providing drive and/or control functionality. Particular embodiments provide improved electrostatic generators.

Abstract: The invention relates to transformers. More particularly, the invention relates to transformers using (preferably electrostatic and more preferably dielectric elastomer) transducers such as generators and actuators. The invention further provides a priming circuit therefor.

Abstract: The invention provides circuits, systems and methods for dielectric elastomer device (DED) self-sensing. The circuit comprises a first DED coupled or adapted for coupling to a first voltage source (for providing an actuating or priming signal, for example); a current sensor provided in series with the first DED; and an oscillating signal source coupled to the first DED and adapted to cause an oscillation in a voltage across the DED, wherein the oscillating signal source is decoupled from the first voltage source.

Abstract: In one aspect the invention provides a laminated device of flexible and compliant layers of material, such as used to provide a dielectric elastomer sensor. A flexible and compliant layer of material is affixed to a substrate to avoid strain during processing is bonded to another layer of flexible and compliant material and released from the substrate to form a laminate. The layer of flexible and compliant material affixed to the substrate may be inspected prior to bonding.

Abstract: In one aspect the invention provides a method of fabricating a laminate of flexible and compliant layers of material, such as used to provide a dielectric elastomer sensor. According to the method a flexible and compliant layer of material which is affixed to a substrate to avoid strain during processing is bonded to another layer of flexible and compliant material and released from the substrate to form a laminate. The layer of flexible and compliant material affixed to the substrate may be inspected prior to bonding.

Abstract: In one aspect the invention provides a method of fabricating a laminate of flexible and compliant layers of material, such as used to provide a dielectric elastomer sensor. According to the method a flexible and compliant layer of material which is affixed to a substrate to avoid strain during processing is bonded to another layer of flexible and compliant material and released from the substrate to form a laminate. The layer of flexible and compliant material affixed to the substrate may be inspected prior to bonding.

Abstract: In one aspect the invention provides an electrical sensor having an electrical capacitance which varies with mechanical deformation to allow instrumenting of deformation by a connected electric circuit, the sensor comprising conductive material separated by dielectric material and operable to deform and change in capacitance with deformation of the capacitor, the capacitor arranged to have a structure of a twisted plane wherein the capacitor is supported in that arrangement by support material.

Abstract: The present invention provides a mechanically-actuated switch comprising a deformable conductive element providing a conductive path between a first terminal and a second terminal, wherein the effective geometry of the conductive element changes suddenly upon deformation to cause a disproportionately large change in a resistance between the first and second terminals. The switch can be made from lightweight and soft materials, and is particularly suited for integration with dielectric elastomer devices. Also disclosed are various circuits and a method for controlling circuits including the switch.

Abstract: In one aspect the invention provides a method of fabricating a laminate of flexible and compliant layers of material, such as used to provide a dielectric elastomer sensor. According to the method a flexible and compliant layer of material which is affixed to a substrate to avoid strain during processing is bonded to another layer of flexible and compliant material and released from the substrate to form a laminate. The layer of flexible and compliant material affixed to the substrate may be inspected prior to bonding.

Abstract: The present invention provides a method for obtaining feedback parameters related to the state of a dielectric elastomer (DE). The method comprises introducing a small-scale oscillation to the voltage difference between electrodes of the DE, monitoring or repeatedly measuring several measurable electrical characteristics of the DE, deriving other relevant data from the measurements, deriving an equation for a plane of best fit through the relevant data when defined as orthogonal axes, and deriving the feedback parameters from coefficients of the plane equation. The method thus provides important feedback regarding the capacitance, leakage current and/or electrode resistance of the DE. Also disclosed are a computer program and a system adapted to perform the method.

Abstract: The present invention provides a mechanically-actuated switch comprising a deformable conductive element providing a conductive path between a first terminal and a second terminal, wherein the effective geometry of the conductive element changes suddenly upon deformation to cause a disproportionately large change in a resistance between the first and second terminals. The switch can be made from lightweight and soft materials, and is particularly suited for integration with dielectric elastomer devices. Also disclosed are various circuits and a method for controlling circuits including the switch.

Abstract: The invention provides circuits, systems and methods for dielectric elastomer device (DED) self-sensing. The circuit comprises a first DED coupled or adapted for coupling to a first voltage source (for providing an actuating or priming signal, for example); a current sensor provided in series with the first DED; and an oscillating signal source coupled to the first DED and adapted to cause an oscillation in a voltage across the DED, wherein the oscillating signal source is decoupled from the first voltage source.

Abstract: A system and method is provided for determining the capacitance between electrodes of an artificial muscle or dielectric elastomer actuator (DEA). The method comprises measuring the voltage difference between the electrodes of the DEA, the first derivative of that voltage with respect to time, and the total instantaneous current through the DEA, then calculating the capacitance of the DEA as the difference between the total instantaneous current through the DEA and the product of the voltage between the electrodes and an error term, divided by the first derivative of the voltage between the electrodes with respect to time. The capacitance may then be used to derive estimates of the leakage current, charge upon the DEA, and/or the physical state of the DEA, thereby implementing self-sensing to allow closed-loop feedback control of DEA actuation.

Abstract: The invention provides a passive converter comprising an input for electrical coupling to an intermittent or variable power source, an output for electrical coupling to load, and a conversion circuit for converting from a first voltage level of the input to a second voltage level suitable for the output, wherein the conversion circuit includes a passive switching circuit adapted to passively couple the input to the output when the input exceeds a first threshold and decouple the input from the output when the input falls below a second threshold. In particular, the passive switching circuit preferably comprises a spark gap, thyristor and avalanche diode, breakover diode, discharge tube, or a thyristor operated as breakover diodes. Circuits and dielectric elastomer generator (DEG) systems including the passive converter are also disclosed.

Abstract: The invention provides an actuator for an electric motor and an electric motor including said actuator. The actuator includes one or more body formed from a dielectric elastomer, each body having at least one active region that is directly or indirectly coupled to a drive means. The active regions are arranged such that, in use, actuation thereof causes driven means to move with components in at least first and second directions, preferably within a plane of the body.

Abstract: The present invention provides a method for obtaining feedback parameters related to the state of a dielectric elastomer (DE). The method comprises introducing a small-scale oscillation to the voltage difference between electrodes of the DE, monitoring or repeatedly measuring several measurable electrical characteristics of the DE, deriving other relevant data from the measurements, deriving an equation for a plane of best fit through the relevant data when defined as orthogonal axes, and deriving the feedback parameters from coefficients of the plane equation. The method thus provides important feedback regarding the capacitance, leakage current and/or electrode resistance of the DE. Also disclosed are a computer program and a system adapted to perform the method.

Abstract: The invention provides an electric circuit device including a conductive element configured to provide an electrical input to an electrical component, the resistivity of the conductive element being variable based at least on the extent of deformation thereof, and a deformable body coupled directly or indirectly to, or integral with, the conductive element such that deformation of the body causes the conductive element to deform, thereby varying the resistance thereof and altering the input to the electrical component. Said devices may be used singularly or in combination as logic elements within electrical circuits, providing drive and/or control functionality. Particular embodiments provide improved electrostatic generators.

Abstract: The invention relates to transformers. More particularly, the invention relates to transformers using (preferably electrostatic and more preferably dielectric elastomer) transducers such as generators and actuators. The invention further provides a priming circuit therefor.

Abstract: A system and method is provided for determining the capacitance between electrodes of an artificial muscle or dielectric elastomer actuator (DEA). The method comprises measuring the voltage difference between the electrodes of the DEA, the first derivative of that voltage with respect to time, and the total instantaneous current through the DEA, then calculating the capacitance of the DEA as the difference between the total instantaneous current through the DEA and the product of the voltage between the electrodes and an error term, divided by the first derivative of the voltage between the electrodes with respect to time. The capacitance may then be used to derive estimates of the leakage current, charge upon the DEA, and/or the physical state of the DEA, thereby implementing self-sensing to allow closed-loop feedback control of DEA actuation.

Abstract: An array of actuators is provided which is adapted for sequential actuation by way of mechano-sensitivity propagating actuation through the array, triggering each actuator upon deformation thereof caused by an adjacent actuator or a load in the form of a fluid or a solid object. Actuation is thus coordinated with minimal computational overhead. Also provided is an actuator suitable for use in such an array, a method of controlling an actuator, and a method of controlling an array of mechano-sensitive actuators.