Self-sensing dielectric actuator system

A method of sensing motion of an actuator of the kind having a deformable dielectric between two electrodes, the method comprising:

• applying an actuating signal across the dielectric;
• applying a sensing signal across the dielectric;
• and
• measuring any change in the sensing signal as the dielectric deforms under influence of the actuating signal.

A method of mechanically displacing an object a desired distance comprising:

• coupling the object to a deformable first electrode;
• applying an actuating signal across the first electrode and a second electrodes to generate an electric field across a deformable dielectric disposed between the electrodes;
• applying a sensing signal across the dielectric;
• measuring any change in the sensing signal as the dielectric deforms under influence of the actuating signal;
• and
• adjusting the actuating signal according to the measured change in the displacement signal to displace the object a desired distance.