Hydraulically amplified self-healing electrostatic actuators with muscle-like performance

作者：Eric Acome, Shane K. Mitchell, Timothy G. Morrissey, Madison B. Emmett, C. Benjamin, Mary E. King, M. Radakovitz, Christoph Keplinger · 发表于：Science · 年份：2018 · DOI：10.1126/science.aao6139 · 被引用次数：1074 · 研究领域：Advanced Sensor and Energy Harvesting Materials、Dielectric materials and actuators、Soft Robotics and Applications

Existing soft actuators have persistent challenges that restrain the potential of soft robotics, highlighting a need for soft transducers that are powerful, high-speed, efficient, and robust. We describe a class of soft actuators, termed hydraulically amplified self-healing electrostatic (HASEL) actuators, which harness a mechanism that couples electrostatic and hydraulic forces to achieve a variety of actuation modes. We introduce prototypical designs of HASEL actuators and demonstrate their robust, muscle-like performance as well as their ability to repeatedly self-heal after dielectric breakdown-all using widely available materials and common fabrication techniques. A soft gripper handling delicate objects and a self-sensing artificial muscle powering a robotic arm illustrate the wide potential of HASEL actuators for next-generation soft robotic devices.