Hydraulically amplified self-healing electrostatic (HASEL) actuators provide a framework to create soft robots with excellent strength, speed, and versatility. Peano-HASEL actuators produce fast and powerful linear contraction and achieve a maximum strain of ~15%. However, skeletal muscle achieves ~20% strain on average. Here, high strain Peano-HASELs (HS-Peano-HASELs) are introduced that achieve linear contraction up to ~ 24%. We investigate a wide range of performance metrics for HS-Peano-HASELs constructed with different materials and geometries. Furthermore, HS-Peano-HASELs are used as a tubular pump, resembling the primordial heart of an ascidian. Additionally, a strain amplifying pulley system is introduced to increase the maximum strain to ~42%.
Recently developed hydraulically amplified self-healing electrostatic (HASEL) actuators can utilize diverse material systems to create high-performance, muscle-mimetic actuators that can be tailored to specific applications. Initial versions of HASEL required cumbersome high voltage driving electronics and utilized a manual fabrication technique which was not easily adjusted to iterate designs. This presentation will describe a versatile and accessible fabrication technique using a computer numerically controlled (CNC) heat sealing machine to rapidly prototype complex designs of HASEL actuators. With this simple fabrication technique, we can create high performance HASELs which offer a variety of actuation modes. These actuators harness electrostatic zipping mechanisms to reduce operating voltages and facilitate a smooth actuation response to input voltage. Moreover, these HASELs feature linear strains over 100%, specific power of 816 W/kg, and cut-off frequencies of 125 Hz; these metrics enable actuators which are fast and powerful enough to jump. Using these devices, we create a continuum actuator capable of three-dimensional articulation and an active surface with programmable morphology. Additionally, we develop a portable electronics package for untethered operation of these soft robotic devices. This presentation will highlight the diverse design freedom inherent to HASEL actuators in terms of material selection and actuator design.
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