Low-voltage electrohydraulic actuators for untethered robotics.

Area of Science:

• Robotics
• Biomimetics
• Materials Science

Background:

• Rigid robots lack compliance and robustness needed for certain environments.
• Soft artificial muscles are essential for biomimetic robots.
• Current electrohydraulic actuators require high voltages, leading to inefficient electronics.

Purpose of the Study:

• To develop a novel soft artificial muscle actuator with improved voltage efficiency and performance.
• To create a safe, waterproof, and robust artificial muscle technology.
• To demonstrate the practical application of the new actuators in robotic systems.

Main Methods:

• Development of hydraulically amplified low-voltage electrostatic (HALVE) actuators.
• Characterization and modeling of actuator performance metrics.
• Validation of actuator capabilities using a robotic gripper and a soft robotic swimmer.

Main Results:

• HALVE actuators achieve mammalian skeletal muscle-like power density (50.5 W/kg) and peak strain rate (971%/s).
• Operates at a significantly lower voltage (1100 V) compared to state-of-the-art electrohydraulic actuators.
• Demonstrated safety, waterproof, and self-clearing properties.

Conclusions:

• HALVE actuators represent a significant advancement in soft artificial muscle technology.
• The developed actuators offer a safer and more efficient alternative for biomimetic robotics.
• Successful demonstration in robotic gripper and swimmer highlights their versatility and potential.