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A survey on dielectric elastomer actuators for soft robots.

Guo-Ying Gu1, Jian Zhu, Li-Min Zhu

  • 1State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, People's Republic of China.

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Summary

Soft robots utilize dielectric elastomer actuators (DEAs) as artificial muscles, offering advantages over rigid robots for human interaction and confined spaces. This survey reviews DEA technology and its applications in various soft robot designs.

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Area of Science:

  • Robotics
  • Materials Science
  • Actuation Technology

Background:

  • Conventional industrial robots rely on rigid actuation, limiting their interaction with humans and unstructured environments.
  • Soft robots are needed for safe human interaction, large deformation capabilities, and navigation in confined spaces.
  • Soft actuators, particularly dielectric elastomer actuators (DEAs), offer a promising alternative to traditional rigid actuators.

Purpose of the Study:

  • To provide a comprehensive survey of dielectric elastomer actuators (DEAs) as a key soft actuation technology.
  • To review various soft robot applications driven by DEAs.
  • To identify challenges and future research opportunities in DEA-driven soft robotics.

Main Methods:

  • Introduction to the working principles, components, and electromechanical modeling of DEAs.
  • Review of existing literature on DEA-driven soft robots, categorized by locomotion type (wearable, walking, flying, swimming).
  • Synthesis of current challenges and future directions in mechanism design, dynamics modeling, and control.

Main Results:

  • DEAs function as artificial muscles, mimicking natural muscle properties like force, strain, and actuation pressure.
  • DEAs enable large, voltage-induced deformations, making them suitable for soft robotic applications.
  • A wide range of DEA-driven soft robots have been developed, demonstrating versatility.

Conclusions:

  • DEAs represent a significant advancement in soft robotics, offering muscle-like performance.
  • Further research is needed in mechanism design, modeling, and control to fully realize the potential of DEA-driven robots.
  • Soft robotics, powered by DEAs, holds promise for enhanced human-robot interaction and complex environmental navigation.