Mathematical Model Extraction and State Space Construction for Nylon Based Smart Force Sensor

Twisted and Coiled Actuator has become widespread in recent years. It has lots of merits in comparison to classical actuators, especially in biomechanical applications. However, the most significant challenge which limits the use of this actuator is the unknown behavior of it for actuating and also self-sensing application. In this paper, we will represent a model for Twisted and Coiled Actuator by means of theoretical concepts and experimental data. First, the preparation process will be explained, then the mathematical model for Voltage-Current and Current-Force will be driven via LS identification method. In the result section, the temperature of this actuator will be estimated using measured current and heat transfer equation. Then it will be validated by experiment which shows that this model can be exploited for future applications in which control of the temperature is necessary.