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Dielectric Elastomer Fiber Actuators with Aqueous Electrode.

Keita Shimizu1, Toshiaki Nagai1, Jun Shintake1

  • 1Department of Mechanical and Intelligent Systems Engineering, Graduate School of Informatics and Engineering, University of Electro-Communications, 1-5-1 Chofu-gaoka, Chofu 182-8585, Tokyo, Japan.

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Summary

This study introduces dielectric elastomer fiber actuators (DEFAs) for soft robotics. These fiber actuators generate linear and bending motion in water, demonstrating potential for underwater soft robots.

Keywords:
aqueous electrodesdielectric elastomer actuatorsfiberssoft roboticsunderwater

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Area of Science:

  • Soft robotics
  • Materials science
  • Actuation technologies

Background:

  • Dielectric elastomer actuators (DEAs) are a key technology for soft robotics.
  • Developing novel DEA configurations is crucial for advancing soft robotic capabilities.

Purpose of the Study:

  • To propose and characterize a novel fiber-shaped dielectric elastomer actuator (DEFA).
  • To demonstrate the DEFA's capability for linear and bending actuation in an aqueous environment.
  • To validate the DEFA concept through the development of a jellyfish-type robot.

Main Methods:

  • Fabrication of linear-type and bending-type DEFAs using a silicone tube filled with an aqueous electrode.
  • Characterization of actuation performance, including strain, force, and angle, under high voltage.
  • Development and testing of a jellyfish-type robot utilizing the DEFA.

Main Results:

  • Linear-type DEFA achieved 1.3% actuation strain and 42.4 mN force at 10 kV.
  • Bending-type DEFA achieved an 8.1° actuation angle at 10 kV.
  • The jellyfish-type robot demonstrated a swimming speed of 3.1 mm/s at 10 kV and 4 Hz.

Conclusions:

  • The successful implementation of the DEFA concept was demonstrated.
  • DEFAs show significant potential for applications in soft robotics, particularly in aquatic environments.
  • The study validates the analytical model's predictive capability for device design.