High-speed electrically actuated elastomers with strain greater than 100%

Influence of Active-to-Passive Ratio on the Deformation in Circular Dielectric Elastomer Actuators

To further improve the performance of dielectric elastomer actuaotrs (DEAs), the development of novel elastomers with enhanced electro-mechanical properties is focal for the advancement of the technology. Hence, reliable techniques to assess their electro-mechanical performance are necessary. Characterization of the actuator materials is often achieved by fabricating circular DEAs with the pre-stretch of the membrane fixed by a stiff frame. Because of this set-up, the electrode size relative to the carrier frame's dimension has an impact on actuator strain and displacement. To allow for comparable results across different studies, the influence of this effect needs to be quantified and taken into account. This paper presents an in-depth study of the active-to-passive ratio by proposing two simplified analytical models for circular DEA and comparing them. The first model is taking the hyperelastic material properties of the dielectric film into account while the second model is a linear elastic lumped parameter model based on the electro-mechanical analogy. Both models lie in good agreement and show a significant linear impact of the radial active-to-passive ratio on the electro-active strain and a resulting maximum of displacement around 50% radial coverage ratio. These findings are validated by experiments with actuators fabricated using silicone membranes. It is shown that the electrode size is not only an important parameter in the experimental design, but in some cases of higher significance for the accuracy of analytical models than the hyperelastic properties of the material. Furthermore, it could be shown that a radial coverage ratio of around 50% is desirable when measuring displacement as it maximizes the displacement and lowers the impact of deviations in electrode sizes due to fabrication errors.

Functionally antagonistic polyelectrolyte for electro-ionic soft actuator

Electro-active ionic soft actuators have been intensively investigated as an artificial muscle for soft robotics due to their large bending deformations at low voltages, small electric power consumption, superior energy density, high safety and biomimetic self-sensing actuation. However, their slow responses, poor durability and low bandwidth, mainly resulting from improper distribution of ionic conducting phase in polyelectrolyte membranes, hinder practical applications to real fields. We report a procedure to synthesize efficient polyelectrolyte membranes that have continuous conducting network suitable for electro-ionic artificial muscles. This functionally antagonistic solvent procedure makes amphiphilic Nafion molecules to assemble into micelles with ionic surfaces enclosing non-conducting cores. Especially, the ionic surfaces of these micelles combine together during casting process and form a continuous ionic conducting phase needed for high ionic conductivity, which boosts the performance of electro-ionic soft actuators by 10-time faster response and 36-time higher bending displacement. Furthermore, the developed muscle shows exceptional durability over 40 days under continuous actuation and broad bandwidth below 10 Hz, and is successfully applied to demonstrate an inchworm-mimetic soft robot and a kinetic tensegrity system.

Lever Mechanism for Diaphragm-Type Vibrators to Enhance Vibrotactile Intensity

Thin and light vibrators that leverage the inverse piezoelectric effect with a diaphragm mechanism are promising vibrotactile actuators owing to their form factors and high temporal and frequency response. However, generating perceptually sufficient displacement in the low-frequency domain is challenging. This study presents a lever mechanism mounted on a diaphragm vibrator to enhance the vibrotactile intensity of low-frequency vibrotactile stimuli. The lever mechanism is inspired by the tactile contact lens consisting of an array of cylinders held against the skin on a sheet that enhances micro-bump tactile detection. We built an experimental apparatus including our previously developed thin-film diaphragm-type vibrator, which reproduced the common characteristic of piezoelectric vibrators: near-threshold displacement (10 to 20 μm) at low frequency. Experiments demonstrated enhanced vibrotactile intensity at frequencies less than 100 Hz with the lever mechanism. Although the arrangement and material of the mechanism can be improved, our findings can help improve the expressiveness of diaphragm-type vibrators.

Liquid Metal Actuators: A Comparative Analysis of Surface Tension Controlled Actuation

Liquid metals, with their unique combination of electrical and mechanical properties, offer great opportunities for actuation based on surface tension modulation. Thanks to the scaling laws of surface tension, which can be electrochemically controlled at low voltages, liquid metal actuators stand out from other soft actuators for their remarkable characteristics such as high contractile strain rates and higher work densities at smaller length scales. This review summarizes the principles of liquid metal actuators and discusses their performance as well as theoretical pathways toward higher performances. The objective is to provide a comparative analysis of the ongoing development of liquid metal actuators. The design principles of the liquid metal actuators are analyzed, including low-level elemental principles (kinematics and electrochemistry), mid-level structural principles (reversibility, integrity, and scalability), and high-level functionalities. A wide range of practical use cases of liquid metal actuators from robotic locomotion and object manipulation to logic and computation is reviewed. From an energy perspective, strategies are compared for coupling the liquid metal actuators with an energy source toward fully untethered robots. The review concludes by offering a roadmap of future research directions of liquid metal actuators.

Technologies for depth scanning in miniature optical imaging systems [Invited]

Biomedical optical imaging has found numerous clinical and research applications. For achieving 3D imaging, depth scanning presents the most significant challenge, particularly in miniature imaging devices. This paper reviews the state-of-art technologies for depth scanning in miniature optical imaging systems, which include two general approaches: 1) physically shifting part of or the entire imaging device to allow imaging at different depths and 2) optically changing the focus of the imaging optics. We mainly focus on the second group of methods, introducing a wide variety of tunable microlenses, covering the underlying physics, actuation mechanisms, and imaging performance. Representative applications in clinical and neuroscience research are briefly presented. Major challenges and future perspectives of depth/focus scanning technologies for biomedical optical imaging are also discussed.

Functional PDMS Elastomers: Bulk Composites, Surface Engineering, and Precision Fabrication

Polydimethylsiloxane (PDMS)-the simplest and most common silicone compound-exemplifies the central characteristics of its class and has attracted tremendous research attention. The development of PDMS-based materials is a vivid reflection of the modern industry. In recent years, PDMS has stood out as the material of choice for various emerging technologies. The rapid improvement in bulk modification strategies and multifunctional surfaces has enabled a whole new generation of PDMS-based materials and devices, facilitating, and even transforming enormous applications, including flexible electronics, superwetting surfaces, soft actuators, wearable and implantable sensors, biomedicals, and autonomous robotics. This paper reviews the latest advances in the field of PDMS-based functional materials, with a focus on the added functionality and their use as programmable materials for smart devices. Recent breakthroughs regarding instant crosslinking and additive manufacturing are featured, and exciting opportunities for future research are highlighted. This review provides a quick entrance to this rapidly evolving field and will help guide the rational design of next-generation soft materials and devices.

Bio-SHARPE: Bioinspired Soft and High Aspect Ratio Pumping Element for Robotic and Medical Applications

The advent of soft robots has solved many issues posed by their rigid counterparts, including safer interactions with humans and the capability to work in narrow and complex environments. While much work has been devoted to developing soft actuators and bioinspired mechatronic systems, comparatively little has been done to improve the methods of actuation. Hydraulically soft actuators (HSAs) are emerging candidates to control soft robots due to their fast responses, low noise, and low hysteresis compared to compressible pneumatic ones. Despite advances, current hydraulic sources for large HSAs are still bulky and require high power availability to drive the pumping plant. To overcome these challenges, this work presents a new bioinspired soft and high aspect ratio pumping element (Bio-SHARPE) for use in soft robotic and medical applications. This new soft pumping element can amplify its input volume to at least 8.6 times with a peak pressure of at least 40 kPa. The element can be integrated into existing hydraulic pumping systems like a hydraulic gearbox. Naturally, an amplification of fluid volume can only come at the sacrifice of pumping pressure, which was observed as a 19.1:1 reduction from input to output pressure. The new concept enables a large soft robotic body to be actuated by smaller fluid reservoirs and pumping plant, potentially reducing their power and weight, and thus facilitating drive source miniaturization. The high amplification ratio also makes soft robotic systems more applicable for human-centric applications such as rehabilitation aids, bioinspired untethered soft robots, medical devices, and soft artificial organs. Details of the fabrication and experimental characterization of the Bio-SHARPE and its associated components are given. A soft robotic squid and an artificial heart ventricle are introduced and experimentally validated.

Variable stiffness soft robotic gripper: design, development, and prospects

The advent of variable stiffness soft robotic grippers furnishes a conduit for exploration and manipulation within uncharted, non-structured environments. The paper provides a comprehensive review of the necessary technologies for the configuration design of soft robotic grippers with variable stiffness, serving as a reference for innovative gripper design. The design of variable stiffness soft robotic grippers typically encompasses the design of soft robotic grippers and variable stiffness modules. To adapt to unfamiliar environments and grasp unknown objects, a categorization and discussion have been undertaken based on the contact and motion manifestations between the gripper and the things across various dimensions: points contact, lines contact, surfaces contact, and full-bodies contact, elucidating the advantages and characteristics of each gripping type. Furthermore, when designing soft robotic grippers, we must consider the effectiveness of object grasping methods but also the applicability of the actuation in the target environment. The actuation is the propelling force behind the gripping motion, holding utmost significance in shaping the structure of the gripper. Given the challenge of matching the actuation of robotic grippers with the target scenario, we reviewed the actuation of soft robotic grippers. We analyzed the strengths and limitations of various soft actuation, providing insights into the actuation design for soft robotic grippers. As a crucial technique for variable stiffness soft robotic grippers, variable stiffness technology can effectively address issues such as poor load-bearing capacity and instability caused by the softness of materials. Through a retrospective analysis of variable stiffness theory, we comprehensively introduce the development of variable stiffness theory in soft robotic grippers and showcase the application of variable stiffness grasping technology through specific case studies. Finally, we discuss the future prospects of variable stiffness grasping robots from several perspectives of applications and technologies.

Understanding the Impact of Active-to-Passive Area Ratio on Deformation in One-Dimensional Dielectric Elastomer Actuators with Uniaxial Strain State

There is increasing interest in the use of novel elastomers with inherent or modified advanced dielectric and mechanical properties, as components of dielectric elastomer actuators (DEA). This requires corresponding techniques to assess their electro-mechanical performance. A common way to test dielectric materials is the fabrication of actuators with pre-stretch fixed by a stiff frame. This results in the problem that the electrode size has an influence on the achievable actuator displacement and strain, which is detrimental to the comparability of experiments. This paper presents an in-depth study of the active-to-passive ratio with the aim of investigating the influence of the coverage ratio on uniaxial actuator displacement and strain. To model the effect, a simple lumped-parameter model is proposed. The model shows that the coverage ratio for maximal displacement is 50%. To validate the model results, experiments are carried out. For this, a rectangular, fiber-reinforced DEA is used to assess the relation of the coverage ratio and deformation. Due to the stiffness of the fibers, highly anisotropic mechanical properties are achieved, leading to the uniaxial strain behavior of the actuator, which allows the validation of the one-dimensional model. To consider the influence of the simplifications in the lumped-parameter model, the results are compared to a hyperelastic model. In summary, it is shown that the ratio of the active-to-passive area has a significant influence on the actuator deformation. Both the model and experiments confirm that an active-to-passive ratio of 50% is particularly advantageous in most cases.

Bi-enzymatic chemo-mechanical feedback loop for continuous self-sustained actuation of conducting polymers

Artificial actuators have been extensively studied due to their wide range of applications from soft robotics to biomedicine. Herein we introduce an autonomous bi-enzymatic system where reversible motion is triggered by the spontaneous oxidation and reduction of glucose and oxygen, respectively. This chemo-mechanical actuation is completely autonomous and does not require any external trigger to induce self-sustained motion. The device takes advantage of the asymmetric uptake and release of ions on the anisotropic surface of a conducting polymer strip, occurring during the operation of the enzymes glucose oxidase and bilirubin oxidase immobilized on its surface. Both enzymes are connected via a redox polymer at each extremity of the strip, but at the opposite faces of the polymer film. The time-asymmetric consumption of both fuels by the enzymatic reactions produces a double break of symmetry of the film, leading to autonomous actuation. An additional break of symmetry, introduced by the irreversible overoxidation of one extremity of the polymer film, leads to a crawling-type motion of the free-standing polymer film. These reactions occur in a virtually unlimited continuous loop, causing long-term autonomous actuation of the device.

Electrode Impact on the Electrical Breakdown of Dielectric Elastomer Thin Films

Dielectric Elastomer Actuators (DEAs) enable the realization of energy-efficient and compact actuator systems. DEAs operate at the kilovolt range with typically microampere-level currents and hence minimize thermal losses in comparison to low voltage/high current actuators such as shape memory alloys or solenoids. The main limiting factor for reaching high energy density in high voltage applications is dielectric breakdown. In previous investigations on silicone-based thin films, we reported that not only do environmental conditions and film parameters such as pre-stretch play an important role but that electrode composition also has a significant impact on the breakdown behavior. In this paper, we present a comprehensive study of electrical breakdown on thin silicone films coated with electrodes manufactured by five different methods: screen printing, inkjet printing, pad printing, gold sputtering, and nickel sputtering. For each method, breakdown was studied under environmental conditions ranging from 1 °C to 80 °C and 10% to 90% relative humidity. The effect of different manufacturing methods was analyzed as was the influence of parameters such as solvents, silicone content, and the particle processing method. The breakdown field increases with increasing temperature and decreases with increasing humidity for all electrode types. The stiffer metal electrodes have a higher breakdown field than the carbon-based electrodes, for which particle size also plays a large role.

Muscle-inspired soft robots based on bilateral dielectric elastomer actuators

Muscle groups perform their functions in the human body via bilateral muscle actuation, which brings bionic inspiration to artificial robot design. Building soft robotic systems with artificial muscles and multiple control dimensions could be an effective means to develop highly controllable soft robots. Here, we report a bilateral actuator with a bilateral deformation function similar to that of a muscle group that can be used for soft robots. To construct this bilateral actuator, a low-cost VHB 4910 dielectric elastomer was selected as the artificial muscle, and polymer films manufactured with specific shapes served as the actuator frame. By end-to-end connecting these bilateral actuators, a gear-shaped 3D soft robot with diverse motion capabilities could be developed, benefiting from adjustable actuation combinations. Lying on the ground with all feet on the ground, a crawling soft robot with dexterous movement along multiple directions was realized. Moreover, the directional steering was instantaneous and efficient. With two feet standing on the ground, it also acted as a rolling soft robot that can achieve bidirectional rolling motion and climbing motion on a 2° slope. Finally, inspired by the orbicularis oris muscle in the mouth, a mouthlike soft robot that could bite and grab objects 5.3 times of its body weight was demonstrated. The bidirectional function of a single actuator and the various combination modes among multiple actuators together allow the soft robots to exhibit diverse functionalities and flexibility, which provides a very valuable reference for the design of highly controllable soft robots.

Composite elastomers with on-demand convertible phase separations achieve large and healable electro-actuation

Phase separation has been widely exploited for fabricating structured functional materials. Generally, after being fabricated, the phase structure in a hybrid material system has been set at a specific length scale and remains unchanged during the lifespan of the material. Herein, we report a strategy to construct on-demand and reversible phase switches among homogenous, nano- and macro-phase separation states in a composite elastomer during its lifespan. We trigger the nanophase separation by super-saturating an elastomer matrix with a carefully selected small-molecule organic compound (SMOC). The nanoparticles of SMOC that precipitate out upon quenching will stretch the elastomer network, yet remain stably arrested in the elastomer matrix at low temperatures for a long time. However, at elevated temperatures, the nano-phase separation will transform into the macro-one. The elastic recovery will drive the SMOC onto the elastomer surface. The phase-separated structures can be reconfigured through the homogeneous solution state at a further elevated temperature. Taking advantage of the reversible phase switches leads to a novel strategy for designing high-performance dielectric elastomers. The in situ formed nanoparticles can boost the electro-actuation performance by eliminating electro-mechanical instability and lead to a very large actuation strain (∼146%). Once the actuator broke down, SMOC could on-demand be driven to the breakdown holes and heal the actuator.

A Perspective of Magnetoelectric Effect in Electrocatalysis

The integration of magnetic fields with magnetoelectric (ME) coupling materials has been recently reported for electrocatalysis applications. Highly efficient energy conversion and storage can be potentially provided by this emerging approach. The ME properties, that is, the coexistence of ferromagnetic (FM) and ferroelectric (FE) ordering in some multiferroic materials, can be manipulated by magnetic or electric fields. The ME coupling can result in unique spin-related physical properties in catalysts, further leading to interesting effects on electrocatalytic reactions. Herein, a discussion on the ME coupling multiferroic materials, as well as their potential opportunities and challenges as electrocatalysts in selected electrochemical reactions, is provided.

X-crossing pneumatic artificial muscles

Artificial muscles are promising in soft exoskeletons, locomotion robots, and operation machines. However, their performance in contraction ratio, output force, and dynamic response is often imbalanced and limited by materials, structures, or actuation principles. We present lightweight, high-contraction ratio, high-output force, and positive pressure-driven X-crossing pneumatic artificial muscles (X-PAMs). Unlike PAMs, our X-PAMs harness the X-crossing mechanism to directly convert linear motion along the actuator axis, achieving an unprecedented 92.9% contraction ratio and an output force of 207.9 Newtons per kilogram per kilopascal with excellent dynamic properties, such as strain rate (1603.0% per second), specific power (5.7 kilowatts per kilogram), and work density (842.9 kilojoules per meter cubed). These properties can overcome the slow actuation of conventional PAMs, providing robotic elbow, jumping robot, and lightweight gripper with fast, powerful performance. The robust design of X-PAMs withstands extreme environments, including high-temperature, underwater, and long-duration actuation, while being scalable to parallel, asymmetric, and ring-shaped configurations for potential applications.

Soft robotic patterning of liquids

Patterning of two or more liquids, either homogeneous in each phase or mixed with particles (including biological matter, such as cells and proteins), by controlling their flow dynamics, is relevant to several applications. Examples include dynamic spatial confinement of liquids in microfluidic systems (such as lab-on-a-chip and organ-on-a-chip devices) or structuring of polymers to modulate various properties (such as strength, conductivity, transparency and surface finishing). State-of-the-art strategies use various technologies, including positioners, shakers and acoustic actuators, which often combine limited versatility of mixing with significant inefficiency, energy consumption, and noise, as well as tendency to increase the temperature of the liquids. Here, we describe a new kind of robotic mixers of liquids, based on electro-responsive smart materials (dielectric elastomer actuators). We show for the first time how an efficient soft robotic device can be used to produce, via combinations of rotations and translations, various spatial patterns in liquids and maintain them stable for a few minutes. Moreover, we show that, as compared to a conventional orbital shaker, the new type of robotic device can mix liquids with a higher efficacy (~ 94% relative to ~ 80%, after 8 min of mixing) and with a significantly lower increase of the liquids' temperature (+ 1 °C relative to + 5 °C, after 6 h of mixing). This is especially beneficial when mixing should occur according to controllable spatial features and should involve temperature-sensitive matter (such as biological cells, proteins, pre-polymers and other thermolabile molecules).

Constitutive formulations for intrinsic anisotropy in soft electroelastic materials

Inspired by biology and engineered soft active material systems, we propose a new constitutive formulation for a soft material consisting of soft contractile fibers embedded in a soft matrix. The mathematical implementation of the model is based on a multi-field invariant formulation within a nonlinear continuum mechanics framework. The coupled constitutive formulation highlights a new electromechanical coupling term that describes the intrinsic (or active) anisotropy due to the contractile units. The model demonstrates the relative role that intrinsic anisotropy plays in the overall stress response. The resulting formulation could be used to design and inspire the development of new soft material systems that seek to replicate three dimensional biological motion.

Transparent Electronics for Wearable Electronics Application

Recent advancements in wearable electronics offer seamless integration with the human body for extracting various biophysical and biochemical information for real-time health monitoring, clinical diagnostics, and augmented reality. Enormous efforts have been dedicated to imparting stretchability/flexibility and softness to electronic devices through materials science and structural modifications that enable stable and comfortable integration of these devices with the curvilinear and soft human body. However, the optical properties of these devices are still in the early stages of consideration. By incorporating transparency, visual information from interfacing biological systems can be preserved and utilized for comprehensive clinical diagnosis with image analysis techniques. Additionally, transparency provides optical imperceptibility, alleviating reluctance to wear the device on exposed skin. This review discusses the recent advancement of transparent wearable electronics in a comprehensive way that includes materials, processing, devices, and applications. Materials for transparent wearable electronics are discussed regarding their characteristics, synthesis, and engineering strategies for property enhancements. We also examine bridging techniques for stable integration with the soft human body. Building blocks for wearable electronic systems, including sensors, energy devices, actuators, and displays, are discussed with their mechanisms and performances. Lastly, we summarize the potential applications and conclude with the remaining challenges and prospects.

Sensing in Soft Robotics

Soft robotics is an exciting field of science and technology that enables robots to manipulate objects with human-like dexterity. Soft robots can handle delicate objects with care, access remote areas, and offer realistic feedback on their handling performance. However, increased dexterity and mechanical compliance of soft robots come with the need for accurate control of the position and shape of these robots. Therefore, soft robots must be equipped with sensors for better perception of their surroundings, location, force, temperature, shape, and other stimuli for effective usage. This review highlights recent progress in sensing feedback technologies for soft robotic applications. It begins with an introduction to actuation technologies and material selection in soft robotics, followed by an in-depth exploration of various types of sensors, their integration methods, and the benefits of multimodal sensing, signal processing, and control strategies. A short description of current market leaders in soft robotics is also included in the review to illustrate the growing demands of this technology. By examining the latest advancements in sensing feedback technologies for soft robots, this review aims to highlight the potential of soft robotics and inspire innovation in the field.

Research on a Variable Pressure Driving Method for Soft Robots Based on the Electromagnetic Effect

This study proposes a novel variable air pressure supply structure based on the electromagnetic effect. This structure can be implemented in various soft robots driven by air pressure, including pneumatic artificial muscles, pneumatic soft grippers, and other soft robots. The structure's main body comprises a hollow circular tube, a magnetic piston arranged in the tube, and an electromagnetic solenoid nested outside the tube. The electromagnetic solenoid is designed with special winding and power supply access modes, generating either an attractive force or a repulsive force on the magnetic piston. This solenoid conforms with the magnetic piston expectation in the tube by changing the polarity direction. The interior of the whole structure is a closed space. The gas is conveyed to the soft robot by the gas guide hoses at the two ends of the structure, and the expansion energy of the compressed gas is fully utilized. Then, the gas supply pressure is controlled to drive the robot. The mathematical model of the structure is established based on the analysis of the electromagnetic force and gas pressure on the piston. The simulation results show that the structure's inherent vibration characteristics under various parameters align with expectations. The real-time automatic optimization of the controller parameters is realized by optimizing the incremental proportional-integral-derivative (PID) controller based on a neural network. The simulation results show that the structure can meet the application requirements. The experimental results show that the proposed gas supply structure can provide a continuous pressure supply curve with any frequency in a specific amplitude range and has an excellent tracking effect on the sinusoidal-like pressure curve.

Methods for numerical simulation of soft actively contractile materials

Soft materials that can demonstrate on demand reconfigurability and changing compliance are highly sought after as actuator materials in many fields such as soft robotics and biotechnology. Whilst there are numerous proof of concept materials and devices, rigorous predictive models of deformation have not been well-established or widely adopted. In this paper, we discuss programming complex three-dimensional deformations of a soft intrinsically anisotropic material by controlling the orientation of the contractile units and/or direction of the applied electric field. Programming is achieved by patterning contractile units and/or selectively activating spatial regions. A new constitutive model is derived to describe the soft intrinsic anisotropy of soft materials. The model is developed within a continuum mechanics framework using an invariant-based formulation. Computational implementation allows us to simulate the complex three-dimensional shape response when activated by electric field. Several examples of the achievable Gauss-curved surfaces are demonstrated. Our computational analysis introduces a mechanics-based framework for design when considering soft morphing materials with intrinsic anisotropy, and is meant to inspire the development of new soft active materials.

Sustainable Elastomers for Actuators: "Green" Synthetic Approaches and Material Properties

Elastomeric materials have great application potential in actuator design and soft robot development. The most common elastomers used for these purposes are polyurethanes, silicones, and acrylic elastomers due to their outstanding physical, mechanical, and electrical properties. Currently, these types of polymers are produced by traditional synthetic methods, which may be harmful to the environment and hazardous to human health. The development of new synthetic routes using green chemistry principles is an important step to reduce the ecological footprint and create more sustainable biocompatible materials. Another promising trend is the synthesis of other types of elastomers from renewable bioresources, such as terpenes, lignin, chitin, various bio-oils, etc. The aim of this review is to address existing approaches to the synthesis of elastomers using "green" chemistry methods, compare the properties of sustainable elastomers with the properties of materials produced by traditional methods, and analyze the feasibility of said sustainable elastomers for the development of actuators. Finally, the advantages and challenges of existing "green" methods of elastomer synthesis will be summarized, along with an estimation of future development prospects.

Synthesis of polysiloxane elastomers modified with sulfonyl side groups and their electromechanical response

Dielectric elastomer transducers are elastic capacitors that respond to mechanical or electrical stress. They can be used in applications such as millimeter-sized soft robots and harvesters of the energy contained in ocean waves. The dielectric component of these capacitors is a thin elastic film, preferably made of a material having a high dielectric permittivity. When properly designed, these materials convert electrical energy into mechanical energy and vice versa, as well as thermal energy into electrical energy and vice versa. Whether a polymer can be used for one or the other application is determined by its glass transition temperature (T_g), which should be significantly below room temperature for the former and around room temperature for the latter function. Herein, we report a polysiloxane elastomer modified with polar sulfonyl side groups to contribute to this field with a powerful new material. This material has a dielectric permittivity as high as 18.4 at 10 kHz and 20 °C, a relatively low conductivity of 5 × 10^-10 S cm^-1, and a large actuation strain of 12% at an electric field of 11.4 V μm^-1 (0.25 Hz and 400 V). At 0.5 Hz and 400 V, the actuator showed a stable actuation of 9% over 1000 cycles. The material exhibited a T_g of -13.6 °C, which although is well below room temperature affected the material's response in actuators, which shows significant differences in the response at different frequencies and temperatures and in films with different thicknesses.

Phase-Separated Dielectric Gels Based on Christiansen Effect

Phase separation is a trivial phenomenon but a mature strategy in materials science. The flexible materials are provided toughness and strength by phase separation, yet there are few applications in optics and electronics industry. A novel phase-separated dielectric gel (PSDG) with a strong Christiansen effect is prepared via radical polymerization using hydroxyethyl methacrylate as a monomer, 4-cyano-4'-pentylbiphenyl and tributyl citrate as mixed solvents, and polyethylene glycol as a softener. The solvent ratios and ambient conditions can efficiently change the color of PSDG which makes it strongly selective for the wavelength of transmitted light. Besides, it has a high dielectric constant (10 at 1 kHz), sensitively responding to the electric field. The phase separation degree of PSDG varies with applied electric field, which will induce its transmittance alteration accordingly. The current field sensitive PSDG provides a novel idea for "smart windows". Additionally, varying the size and shape of the electrodes can precisely control the phase separation in PSDG and also enables the function of free writing on flexible materials. Therefore, the designed PSDG has great application potential for flexible touch and interesting interactions.

On-Demand Cross-Linkable Bottlebrush Polymers for Voltage-Driven Artificial Muscles

Dielectric elastomer actuators (DEAs) generate motion resembling natural muscles in reliability, adaptability, elongation, and frequency of operation. They are highly attractive in implantable soft robots or artificial organs. However, many applications of such devices are hindered by the high driving voltage required for operation, which exceeds the safety threshold for the human body. Although the driving voltage can be reduced by decreasing the thickness and the elastic modulus, soft materials are prone to electromechanical instability (EMI), which causes dielectric breakdown. The elastomers made by cross-linking bottlebrush polymers are promising for achieving DEAs that suppress EMI. In previous work, they were chemically cross-linked using an in situ free-radical UV-induced polymerization, which is oxygen-sensitive and does not allow the formation of thin films. Therefore, the respective actuators were operated at voltages above 4000 V. Herein, macromonomers that can be polymerized by ring-opening metathesis polymerization and subsequently cross-linked via a UV-induced thiol-ene click reaction are developed. They allow us to fast cross-link defect-free thin films with a thickness below 100 μm. The dielectric films give up to 12% lateral actuation at 1000 V and survive more than 10,000 cycles at frequencies up to 10 Hz. The easy and efficient preparation approach of the defect-free thin films under air provides easy accessibility to bottlebrush polymeric materials for future research. Additionally, the desired properties, actuation under low voltage, and long lifetime revealed the potential of the developed materials in soft robotic implantable devices. Furthermore, the C-C double bonds in the polymer backbone allow for chemical modification with polar groups and increase the materials' dielectric permittivity to a value of 5.5, which is the highest value of dielectric permittivity for a cross-linked bottlebrush polymer.

Low-Voltage Stretchable Electroluminescent Loudspeakers with Synchronous Sound and Light Generation

Stretchable sound-in-displays, which can generate synchronous sound and light directly from the display without a separate speaker, allow immersive audio and visual perception even on curved surfaces. In stretchable sound-in-displays, alternating current electroluminescent (ACEL) devices have been used as light-emitting sources owing to their high brightness and stability. However, stretchable ACEL devices that use low dielectric constant (κ) materials require a high operating voltage for generating light and sound. Herein, we demonstrate a stretchable ACEL loudspeaker with a low operating voltage using stretchable high-κ dielectrics and strain-insensitive electrodes. Our device exhibits 87.7 cd/m² of luminance and 79.70 dB of sound pressure level at an operating voltage of 120 V and 10 kHz. As the next platform of wearable devices, the suggested ACEL loudspeaker exhibits high-quality synchronous light and sound generation performance even under various types of mechanical deformation, such as finger flexion and wrist bending.

Polyvinyl chloride-based dielectric elastomer with high permittivity and low viscoelasticity for actuation and sensing

Dielectric elastomers (DEs) are widely used in soft actuation and sensing. Current DE actuators require high driving electrical fields because of their low permittivity. Most of DE actuators and sensors suffer from high viscoelastic effects, leading to high mechanical loss and large shifts of signals. This study demonstrates a valuable strategy to produce polyvinyl chloride (PVC)-based elastomers with high permittivity and low viscoelasticity. The introduction of cyanoethyl cellulose (CEC) into plasticized PVC gel (PVCg) not only confers a high dielectric permittivity (18.9@1 kHz) but also significantly mitigates their viscoelastic effects with a low mechanical loss (0.04@1 Hz). The CEC/PVCg actuators demonstrate higher actuation performances over the existing DE actuators under low electrical fields and show marginal displacement shifts (7.78%) compared to VHB 4910 (136.09%). The CEC/PVCg sensors display high sensitivity, fast response, and limited signal drifts, enabling their faithful monitoring of multiple human motions.

A Soft Robot Driven by a Spring-Rolling Dielectric Elastomer Actuator with Two Bristles

Confined space searches such as pipeline inspections are widely demanded in various scenarios, where lightweight soft robots with inherent compliance to adapt to unstructured environments exhibit good potential. We proposed a tubular soft robot with a simple structure of a spring-rolled dielectric elastomer (SRDE) and compliant passive bristles. Due to the compliance of the bristles, the proposed robots can work in pipelines with inner diameters both larger and smaller than the one of the bristles. Firstly, the nonlinear dynamic behaviors of the SRDE were investigated experimentally. Then, we fabricated the proposed robot with a bristle diameter of 19 mm and then studied its performance in pipelines on the ground with inner diameters of 18 mm and 20 mm. When the pipeline's inner diameter was less than the outer diameter of the bristles, the bristles remained in the state of bending and the robot locomotion is mainly due to anisotropic friction (1.88 and 0.88 body lengths per second horizontally and vertically, respectively, in inner diameter of 18 mm and 0.06 body length per second in that of 16 mm). In the case of the pipeline with the larger inner diameter, the bristles were not fully constrained, and a small bending moment applied on the lower bristle legs contributed to the robot's locomotion, leading to a high velocity (2.78 body lengths per second in 20 mm diameter acrylic pipe). In addition, the robot can work in varying geometries, such as curving pipes (curve radius ranges from 0.11 m to 0.31 m) at around two body lengths per second horizontally and on the ground at 3.52 body lengths per second, showing promise for pipeline or narrow space inspections.

Frequency-dependent electrical properties of microscale self-enclosed ionic liquid enhanced soft composites

The incorporation of room temperature ionic liquids (ILs) into dielectric elastomer composites is currently generating great interest due to their potential applications in soft actuators and optical-related devices. Experiments have shown that the electrical properties of IL enhanced soft composites (ILESCs) are dependent on AC (alternating current) frequency of the electrical loading. This current work helps develop a mixed micromechanical model with the incorporation of an electric double layer (EDL) to predict the electrical properties of the ILESCs while revealing the physical mechanisms (including crowding and overscreening structures, percolation thresholds, interfacial tunneling, Maxwell-Wagner-Sillars polarization) that underpin the phenomena. Particularly, Bazant-Storey-Kornyshev (BSK) phenomenological theory is integrated into the EDL surface diffusion model for the first time to evaluate the influence of crowding and overscreening effects. The results show excellent agreement with experimental data of IL enhanced PDMS composites over the frequency range from 1 Hz to 10 GHz. Parametric analysis from the perspective of designing is conducted to explore the methods for optimization of ILESCs with high dielectric constants and frequency-dependent stability. It is found that an IL with a smaller size and aspect ratio increases the dielectric constant of the ILESCs more significantly below the interface relaxation frequency. Increasing the surface charge density of the matrix and using ILs delay the frequency-facilitated dielectric response, which is beneficial to maintain the dielectric stability of the ILESCs.

Perspective for soft robotics: the field's past and future

Since its beginnings in the 1960s, soft robotics has been a steadily growing field that has enjoyed recent growth with the advent of rapid prototyping and the provision of new flexible materials. These two innovations have enabled the development of fully flexible and untethered soft robotic systems. The integration of novel sensors enabled by new manufacturing processes and materials shows promise for enabling the production of soft systems with 'embodied intelligence'. Here, four experts present their perspectives for the future of the field of soft robotics based on these past innovations. Their focus is on finding answers to the questions of: how to manufacture soft robots, and on how soft robots can sense, move, and think. We highlight industrial production techniques, which are unused to date for manufacturing soft robots. They discuss how novel tactile sensors for soft robots could be created to enable better interaction of the soft robot with the environment. In conclusion this article highlights how embodied intelligence in soft robots could be used to make soft robots think and to make systems that can compute, autonomously, from sensory inputs.

Bioinspired multichannel colorful encryption through kirigami activating grating

Optical encryption, exploiting degrees of freedom of light as parameters to encode and decode information, plays an indispensable role in our daily life. Responsive structural color materials can give real-time visible feedback to external stimuli and provide ideal candidates for optical encryption. However, the development of existing responsive structural color materials is hindered by poor repeatability and long feedback time. Meanwhile, there are only few strategies to exploit structural colors in multichannel information encryption. Herein, bioinspired by the structural color variation due to a change in angle arising from the movement of animal's scales or feathers, we developed a general multichannel information encryption strategy using a two-dimensional deformable kirigami arranging orientations of the grating arrays by design. The kirigami grating sheet shows rapid, repeatable, and programmable color change. This strategy utilizes the topological space deformation to guide the change of optical property, which suggests new possibilities for spatial and spectral encryption as well as mechano-sensing and camouflage.

Electroactive Polymer-Based Soft Actuator with Integrated Functions of Multi-Degree-of-Freedom Motion and Perception

Soft actuators have received extensive attention in the fields of soft robotics, biomedicine, and intelligence systems owing to their advantages of pliancy, silence, and essential safety. However, most existing soft actuators have only single actuation elements and lack sensing. Therefore, it is difficult for them to perform complex motions with multiple degrees of freedom (multi-DOFs) and high precision. This article reports a miniature columnar dielectric elastomer actuator (DEA) with multi-DOF actuation and sensing, which was fabricated with an electroactive polymer acrylic film (Very High Bond [VHB] acrylic film by 3M Company) and carbon black grease electrodes. The arrangement of the simulation electrodes on the VHB was optimized to realize multi-DOF actuation, and the sensing electrodes were configured on the outer part of the DEA to realize real-time sensing. The results showed that the soft actuator can achieve all-round actuation through the selective power of the stimulation electrodes with a controllable voltage. The maximum bending angle and axial strain of the actuator reached 50° and 13%, respectively. Moreover, the deformation modes, direction, and quantity could be precisely measured using the integrative sensing function. In addition, to demonstrate the advantages of the proposed actuator, a manipulator with multiple actuators was designed and controlled to realize different actions of screwing and grasping with sensing. This research is useful not only for the design of multifunctional soft actuators but also for the development of soft robots with flexible, complex, and precisely controllable motions.

Self-Healing Polymeric Soft Actuators

Natural evolution has provided multicellular organisms with sophisticated functionalities and repair mechanisms for surviving and preserve their functions after an injury and/or infection. In this context, biological systems have inspired material scientists over decades to design and fabricate both self-healing polymeric materials and soft actuators with remarkable performance. The latter are capable of modifying their shape in response to environmental changes, such as temperature, pH, light, electrical/magnetic field, chemical additives, etc. In this review, we focus on the fusion of both types of materials, affording new systems with the potential to revolutionize almost every aspect of our modern life, from healthcare to environmental remediation and energy. The integration of stimuli-triggered self-healing properties into polymeric soft actuators endow environmental friendliness, cost-saving, enhanced safety, and lifespan of functional materials. We discuss the details of the most remarkable examples of self-healing soft actuators that display a macroscopic movement under specific stimuli. The discussion includes key experimental data, potential limitations, and mechanistic insights. Finally, we include a general table providing at first glance information about the nature of the external stimuli, conditions for self-healing and actuation, key information about the driving forces behind both phenomena, and the most important features of the achieved movement.

Study of a Mixed Conductive Layer Fabricated by Ion Implantation and Distribution Theory

Electrodes are essential parts of capacitors that can consist of a variety of materials depending on the application. In dielectric elastomer transducers (DETs)-a type of special variable capacitor-the electrode needs to deform with a soft base. However, the current carbon-based electrodes are not stable, and the metal-based ones are not flexible for use in DETs. Thus, the need to fabricate an electrode which can meet both the stability and flexibility requirements is extremely important. In this work, silver ions with energy levels of 40 keV were implanted into the surface of polydimethylsiloxane (PDMS) to explore the effect of ion implantation on surface conductivity. The experimental results showed that the surface resistivity of PDMS reached 251.85 kΩ per square and dropped by 10 orders of magnitude after ion implantation. This indicates that the surface conductivity was significantly improved. EDS characterization results showed that the maximum penetration depth that ions could reach was about 2.5 μm. The surface resistivity of the sample coated with carbon black was further reduced by an order of magnitude after ion implantation and changed more stably with time. A quasi-melting-collision model was established to investigate the distribution of carbon black particles. The concentration of carbon black particles at a distance from the PDMS surface followed a Gaussian-like distribution.

A New Molecular Mechanism for Understanding the Actuated Strain of Dielectric Elastomers and Their Impacts

Dielectric elastomers (DEs) are a special material that deform responding to an electric field. The induced strain is known as actuated strain (AS). This phenomenon is totally different from electrostriction, for there is no crystal lattice in elastomers and the AS of DEs is much greater. The most accepted mechanism holds the view that the AS of DEs is induced by the Maxwell stress. According to this mechanism, materials exhibiting similar ratios of permittivity and Young's modulus should have similar ASs, while the experimental AS isn't relevant to the ideal value, contradicting this mechanism. The direction of uniaxial pre-strained DE's AS cannot be explained by this mechanism either. The electric field and DE are only regarded as a source of stress and a deformable body respectively in this mechanism, which ignores the interaction between those two. Recently, a new molecular mechanism for AS is proposed, in which the electric field first orient dipoles of chains, therefore the conformation of chains will be changed, finally leading to AS. With thermodynamical derivation and experiment, entropy-dominated elasticity is found to account for more during AS. This mechanism is systematically introduced in this perspective and presents current challenges and outlooks of DE.

Bio-Inspired Transparent Soft Jellyfish Robot

Jellyfish are among the widely distributed nature creatures that can effectively control the fluidic flow around their transparent soft body, thus achieving movements in the water and camouflage in the surrounding environments. Till now, it remains a challenge to replicate both transparent appearance and functionalities of nature jellyfish in synthetic systems due to the lack of transparent actuators. In this work, a fully transparent soft jellyfish robot is developed to possess both transparency and bio-inspired omni motions in water. This robot is driven by transparent dielectric elastomer actuators (DEAs) using hybrid silver nanowire networks and conductive polymer poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate)/waterborne polyurethane as compliant electrodes. The electrode exhibits large stretchability, low stiffness, high transmittance, and excellent conductivity at large strains. Consequently, the highly transparent DEA based on this hybrid electrode, with Very-High-Bond membranes as dielectric layers and polydimethylsiloxane as top coating, can achieve a maximum area strain of 146% with only 3% hysteresis loss. Driven by this transparent DEA, the soft jellyfish robot can achieve vertical and horizontal movements in water, by mimicking the actual pulsating rhythm of an Aurelia aurita. The bio-inspired robot can serve multiple functions as an underwater soft robot. The hybrid electrodes and bio-inspired design approach are potentially useful in a variety of soft robots and flexible devices.

Dielectric Polymer with Designable Large Motion under Low Electric Field

Dielectric elastomers (DEs) can demonstrate fast and large in-plane expansion/contraction due to electric field (e-field)-induced Maxwell stress. For robotic applications, it is often necessary that the in-plane actuation is converted into out-of-plane motions with mechanical frames. Despite their performance appeal, their high driving e-field (20-100 V µm^-1 ) demands bulky power accessories and severely compromises their durability. Here, a dielectric polymer that can be programmed into diverse motions actuated under a low e-field (2-10 V µm^-1 ) is reported. The material is a crystalline dynamic covalent network that can be reconfigured into arbitrary 3D geometries. This gives rise to a geometric effect that markedly amplifies the actuation, leading to designable large motions when the dielectric polymer is heated above its melting temperature to become a DE. Additionally, the crystallization transition enables dynamic multimodal motions and active deployability. These attributes result in unique design versatility for soft robots.

Optically addressable dielectric elastomer actuator arrays using embedded percolative networks of zinc oxide nanowires

Dielectric elastomer actuators (DEAs) are electrically driven soft actuators that generate fast and reversible deformations, enabling lightweight actuation of many novel soft robots and haptic devices. However, the high-voltage operation of DEAs combined with the paucity of soft, small high-voltage microelectronics has limited the number of discrete DEAs that can be incorporated into soft robots. This has hindered the versatility as well as complexity of the tasks that they can perform which, in practice, depends on the number of independently addressable actuating elements. This paper presents a new class of optically addressable dielectric elastomer actuators that utilize the photoconductivity of semiconducting zinc oxide nanowires to create optically switchable and stretchable electrical channels. This enables non-contact, optical control of local actuation. To illustrate the versatility of the new capabilities of this integration, we describe the response of dielectric elastomer actuators with integrated photoconductive channels, formed from thin films of percolating semiconducting nanoparticles. By using a switchable array of small light emitting diodes to optically address the actuator array, its actuation can be controlled both spatially and temporally.

Flexoelectric enhanced film for an ultrahigh tunable piezoelectric-like effect

Recent advancements in electromechanical coupling effects enable electromechanical materials in soft and stretchable formats, offering unique opportunities for biomimetic applications. However, high electromechanical performance and mechanical elasticity hardly coexist in soft materials. Flexoelectricity, an electromechanical coupling between strain gradient and electric polarization, possesses great potential of strain gradient engineering and material design in soft elastomeric materials. In this work, we report a flexoelectric enhanced elastomer-based film (FEEF) with both high electromechanical capability and stretchability. The integrated strategies with biaxial pre-stretch, crosslinking density of the elastomer along with nanoparticle size, particle filling ratio and electric field charging lead to an enhanced flexoelectricity by two orders of magnitude. Furthermore, this FEEF reveals an ultrahigh electromechanical performance by flexoelectric enhancement with its mechanical design. As a representative demonstration, an ultrahigh piezoelectric-like sensing array is fabricated for multifunctional sensing applications in strain, force and vibration, verifying an equivalent piezoelectric coefficient d₃₃ value as high as 1.42 × 10⁴ pC N^-1, and an average d₃₃ value of 4.23 × 10³ pC N^-1 at a large-scale deformation range. This proposed ultra-high piezoelectric-like effect with its approach is anticipated to provide a possibility for highly tunable piezoelectric-like effect by enhanced flexoelectricity and mechanical design in elastomeric materials.

Analyzing pericytes under mild traumatic brain injury using 3D cultures and dielectric elastomer actuators

Traumatic brain injury (TBI) is defined as brain damage due to an external force that negatively impacts brain function. Up to 90% of all TBI are considered in the mild severity range (mTBI) but there is still no therapeutic solution available. Therefore, further understanding of the mTBI pathology is required. To assist with this understanding, we developed a cell injury device (CID) based on a dielectric elastomer actuator (DEA), which is capable of modeling mTBI via injuring cultured cells with mechanical stretching. Our injury model is the first to use patient-derived brain pericyte cells, which are ubiquitous cells in the brain involved in injury response. Pericytes were cultured in our CIDs and mechanically strained up to 40%, and by at least 20%, prior to gene expression analysis. Our injury model is a platform capable of culturing and stretching primary human brain pericytes. The heterogeneous response in gene expression changes in our result may suggest that the genes implicated in pathological changes after mTBI could be a patient-dependent response, but requires further validation. The results of this study demonstrate that our CID is a suitable tool for simulating mTBI as an in vitro stretch injury model, that is sensitive enough to induce responses from primary human brain pericytes due to mechanical impacts.

A Review of Electrically Driven Soft Actuators for Soft Robotics

In recent years, the field of soft robotics has gained much attention by virtue of its aptness to work in certain environments unsuitable for traditional rigid robotics. Along with the uprising field of soft robotics is the increased attention to soft actuators which provide soft machines the ability to move, manipulate, and deform actively. This article provides a focused review of various high-performance and novel electrically driven soft actuators due to their fast response, controllability, softness, and compactness. Furthermore, this review aims to act as a reference guide for building electrically driven soft machines. The focus of this paper lies on the actuation principle of each type of actuator, comprehensive performance comparison across different actuators, and up-to-date applications of each actuator. The range of actuators includes electro-static soft actuators, electro-thermal soft actuators, and electrically driven soft pumps.

Control of Dielectric and Mechanical Properties of Styrenic Block Copolymer by Graphite Incorporation

The structure-property relationship of dielectric elastomers, as well as the methods of improving the control of this relationship, has been widely studied over the last few years, including in some of our previous works. In this paper, we study the control, improvement, and correlation, for a significant range of temperatures, of the mechanical and dielectric properties of polystyrene-b-(ethylene-co-butylene)-b-styrene (SEBS) and maleic-anhydride-grafted SEBS (SEBS-MA) by using graphite (G) as filler in various concentrations. The aim is to analyze the suitability of these composites for converting electrical energy into mechanical energy or vice versa. The dielectric spectroscopy analysis performed in the frequency range of 10 to 1 MHz and at temperatures between 27 and 77 °C emphasized an exponential increase in real permittivity with G concentration, a low level of dielectric losses (≈10^-3), as well as the stability of dielectric losses with temperature for high G content. These results correlate well with the increase in mechanical stiffness with an increase in G content for both SEBS/G and SEBS-MA/G composites. The activation energies for the dielectric relaxation processes detected in SEBS/G and SEBS-MA/G composites were also determined and discussed in connection with the mechanical, thermal, and structural properties resulting from thermogravimetric analysis, differential scanning calorimetry, Fourier-transform infrared spectroscopy and X-ray photoelectron spectroscopy analyses.

Stepwise Artificial Yarn Muscles with Energy-Free Catch States Driven by Aluminum-Ion Insertion

Present artificial muscles have been suffering from poor actuation step precision and the need of energy input to maintain actuated states due to weak interactions between guest and host materials or the unstable structural changes. Herein, these challenges are addressed by deploying a mechanism of reversible faradaic insertion and extraction reactions between tetrachloroaluminate ions and collapsed carbon nanotubes. This mechanism allows tetrachloroaluminate ions as a strong but dynamic "locker" to achieve an energy-free high-tension catch state and programmable stepwise actuation in the yarn muscle. When powered off, the muscle nearly 100% maintained any achieved contractile strokes even under loads up to 96,000 times the muscle weight. The actuation mechanism allowed the programmable control of stroke steps down to 1% during reversible actuation. The isometric stress generated by the yarn muscle (14.6 MPa in maximum, 40 times that of skeletal muscles) was also energy freely lockable and step controllable with high precision. Importantly, when fully charged, the muscle stored energy with a high capacity of 102 mAh g^-1, allowing the muscle as a battery to power secondary muscles or other devices.

A Dielectric Elastomer Actuator-Driven Vibro-Impact Crawling Robot

Over the last decade, many bio-inspired crawling robots have been proposed by adopting the principle of two-anchor crawling or anisotropic friction-based vibrational crawling. However, these robots are complicated in structure and vulnerable to contamination, which seriously limits their practical application. Therefore, a novel vibro-impact crawling robot driven by a dielectric elastomer actuator (DEA) is proposed in this paper, which attempts to address the limitations of the existing crawling robots. The novelty of the proposed vibro-impact robot lies in the elimination of anchoring mechanisms or tilted bristles in conventional crawling robots, hence reducing the complexity of manufacturing and improving adaptability. A comprehensive experimental approach was adopted to characterize the performance of the robot. First, the dynamic response of the DEA-impact constraint system was characterized in experiments. Second, the performance of the robot was extensively studied and the fundamental mechanisms of the vibro-impact crawling locomotion were analyzed. In addition, effects of several key parameters on the robot's velocity were investigated. It is demonstrated that our robot can realize bidirectional motion (both forward and backward) by simple tuning of the key control parameters. The robot demonstrates a maximum forward velocity of 21.4 mm/s (equivalent to 0.71 body-length/s), a backward velocity of 16.9 mm/s, and a load carrying capacity of 9.5 g (equivalent to its own weight). The outcomes of this paper can offer guidelines for high-performance crawling robot designs, and have potential applications in industrial pipeline inspections, capsule endoscopes, and disaster rescues.

Real time high voltage capacitance for rapid evaluation of dielectric elastomer actuators

Dielectric elastomer actuators (DEAs) are soft electromechanical transducers that have enabled robotic, haptic, and optical applications. Despite their advantages in high specific energy, large bandwidth, and simple fabrication, their widespread adoption is limited by poor long-term performance. While the mechanical work output has been studied extensively, the electrical energy input has rarely been characterized. Here we report a method to continuously monitor high voltage capacitance during DEA actuation to directly measure the electrical energy consumption. Our approach can track energy conversion efficiency, but also show changes in the device's properties in real-time. This unprecedented insight enables a novel way to study DEAs, evaluate degradation mechanisms, and correlate material structure to device performance. Moreover, it provides a data acquisition platform for data-driven optimization and prediction of long-term actuator performance. This work is a necessary step towards developing ultra-resilient DEAs and enabling a wide range of applications, from wearable devices to soft machines across different scales.