FIELD: computer equipment.
SUBSTANCE: disclosed is a combined drive and sensor device having structure (22) of electroactive material (EAP) and a controller for generating a control signal supplied to the EAP structure. Controller is configured to superimpose the weak high-frequency measurement AC signal (34) over the larger actuating excitation signal (32), wherein the measurement signal has a frequency, which resonates with mechanical resonance frequency or anti-resonance frequency of EAP-structure. Application of mechanical loads to the device can be identified by changes in the impedance of the EAP structure caused by attenuation of mechanical resonance. Thus, the device facilitates simultaneous perception and actuation. Also disclosed is a corresponding method of simultaneous perception and actuation.
EFFECT: implementation of the declared solution enables to optimize the device and method for achieving high sensitivity of perception, which facilitates accurate measurement of value of applied mechanical loads in real time mode.
20 cl, 9 dwg
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