An Easy-to-Implement Toolkit to Create Versatile and High-Performance HASEL Actuators for Untethered Soft Robots

Area of Science:

• Soft robotics
• Materials science
• Actuator technology

Background:

• Soft robots require actuators with muscle-like performance, low cost, and ease of fabrication for widespread adoption.
• Existing soft actuators often struggle to meet the demands of complex applications.

Purpose of the Study:

• To introduce a comprehensive toolkit for rapid prototyping, manufacturing, testing, and powering of hydraulically amplified self-healing electrostatic (HASEL) actuators.
• To enable a broader audience to explore and utilize HASEL technology for soft robotics.

Main Methods:

• Development of a toolkit using accessible methods, inexpensive fabrication tools, commodity materials, and off-the-shelf high-voltage electronics.
• Introduction of an efficient fabrication technique for modular HASEL actuator designs.
• Integration of HASEL actuators into soft robotic devices powered by portable electronics.

Main Results:

• HASEL actuators achieved linear strains exceeding 100% and specific power greater than 150 W kg⁻¹.
• Actuators demonstrated ≈20% strain at frequencies above 100 Hz, enabling jumping without power amplification.
• Development of an untethered continuum robot capable of grasping and manipulating delicate objects.

Conclusions:

• The introduced toolkit and fabrication methods facilitate the creation of high-performance, muscle-like soft actuators.
• The developed HASEL actuators enable sophisticated soft robotic applications, including untethered manipulation.
• This work significantly advances the potential for ubiquitous adoption of soft robots.