HASEL Artificial Muscles for a New Generation of Lifelike Robots—Recent Progress and Future Opportunities

作者：Philipp Rothemund, Nicholas Kellaris, Shane K. Mitchell, Eric Acome, Christoph Keplinger · 发表于：Advanced Materials · 年份：2020 · DOI：10.1002/adma.202003375 · 被引用次数：253 · 研究领域：Advanced Sensor and Energy Harvesting Materials、Advanced Materials and Mechanics、Micro and Nano Robotics

Future robots and intelligent systems will autonomously navigate in unstructured environments and closely collaborate with humans; integrated with our bodies and minds, they will allow us to surpass our physical limitations. Traditional robots are mostly built from rigid, metallic components and electromagnetic motors, which make them heavy, expensive, unsafe near people, and ill-suited for unpredictable environments. By contrast, biological organisms make extensive use of soft materials and radically outperform robots in terms of dexterity, agility, and adaptability. Particularly, natural muscle-a masterpiece of evolution-has long inspired researchers to create "artificial muscles" in an attempt to replicate its versatility, seamless integration with sensing, and ability to self-heal. To date, natural muscle remains unmatched in all-round performance, but rapid advancements in soft robotics have brought viable alternatives closer than ever. Herein, the recent development of hydraulically amplified self-healing electrostatic (HASEL) actuators, a new class of high-performance, self-sensing artificial muscles that couple electrostatic and hydraulic forces to achieve diverse modes of actuation, is discussed; current designs match or exceed natural muscle in many metrics. Research on materials, designs, fabrication, modeling, and control systems for HASEL actuators is detailed. In each area, research opportunities are identified, which together lays out a roadmap for actuators wi...