A design of powerful soft actuator based on modified HASEL configuration

Abstract

In the field of soft robotics, the various soft actuators have been suggested such as fluidic elastomer actuator (FEA), electroactive polymer (EAP) actuator, and shape memory alloy (SMA). However, each soft actuator has its own limitations such as the existence of external equipment, controllability, and limited output force. To solve these issues, designing a new soft actuator by combining different soft actuators has been attempted previously. In this paper, the novel soft actuator which is designed by combining PVC-gel and hydraulically amplified self-healing electrostatic actuator (HASEL) is presented. The proposed actuator shows a high output force (3.35 N) at the low operating voltage (4kV), which has been the goal of the dielectric EAP actuator for many years.