Dynamic Modeling of P(VDF-TrFE-CTFE)-based Soft Actuators via Echo State Networks

This paper proposes to use a reservoir computation approach to model the non-linear dynamic behaviour of a novel electroactive soft actuator. The soft actuator is fabricated as a unimorph cantilever beam, in which the active layer is a mat of electrospun aligned nanofibers of the P(VDF-TrFE-CTFE) electrostrictive polymer integrated into a PDMS silicone matrix. The passive layer consists of kapton, while the soft electrodes are made of conductive carbon powder. The non-linear dynamic response of three specimens of the soft actuator, when stimulated by both DC and complex electric fields of varying frequency, is modeled by means of an echo state network. The proposed architecture is able to achieve a normalized root mean square error of 0.429 for the tip deflections and of 0.265 for the blocking forces, when compared to experimental data.