Actuation Characteristics and Mechanism of Electroactive Plasticized Thermoplastic Polyurethane

As interesting alternatives, electroactive actuators based on plasticized thermoplastic polyurethane (TPU) have shown their potential in developing soft robotics due to the large bending deformation, fast response, and good durability, especially their designable properties. Understanding the actuation mechanism is essential for controlling soft actuators as well as developing novel ones. In this work, the behaviors of the plasticizer and TPU membranes in electric fields were investigated and observed in situ by a microscope, showing that the plasticizer molecules migrated toward the anode of the actuator. It is found that there was a very thin plasticizer-rich layer formed in the material because of the accumulation of negatively charged plasticizer molecules, basing on the results of electrochemical impedance measurement and space charge measurement. This further led to a lower Young's modulus but an internal electric field with a higher density in this layer, resulting in the deformation of the actuator. Furthermore, based on the actuation mechanism, some actuation characteristics of the developed soft actuators were clarified. The maximum deflection of these actuators increased with the number of cycle tests, and in each cycle test, the deflection quickly reached the maximum value and then gradually decreased. It is believed that these characteristics are strongly related to the behaviors of plasticizer molecules, which were investigated accordingly.