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. 2020 Nov 9;33(19):2003375. doi: 10.1002/adma.202003375

Figure 15.

Figure 15

Deformation sensing and control for HASEL actuators. a) As HASEL actuators are deformable capacitors, monitoring their capacitance can be used to self‐sense deformation (see Figure 2). b) Example of closed‐loop control of a planar HASEL actuator for displacement control using self‐sensing to measure deformation. c) An external, stretchable, capacitive sensor is used to measure the deformation of a stack of expanding HASEL actuators. d) Example of closed‐loop control for displacement steps, of the actuators shown in (c) using the external capacitive sensor to measure deformation. a) Adapted with permission.[ 14 ] Copyright 2018, AAAS. b) Reproduced with permission.[ 126 ] Copyright 2018, IEEE. c) Reproduced with permission.[ 127 ] Copyright 2020, IEEE. d) Reproduced with permission.[ 127 ] Copyright 2020, IEEE.