A Low-Power Electrothermal Flexible Actuator with Independent Heating Control for Programmable Shape Deformation

Flexible actuators hold significant promise for applications in intelligent robotics, wearable devices, and biomimetic systems. However, conventional actuators face challenges such as high driving voltages, inadequate deformation control, and limited deformation modes, which hinder complex programmable dynamic deformations. This study presents an electrothermal actuator based on a conductive silver paste/Kapton/PDMS composite structure, enabling precise and adjustable deformation through programmable thermal control. Experimental results show that the actuator achieves a large-angle bending (∼203°) within 12 s under a low driving voltage of 2.0 V. Compared to the PTFE/MXene/PI structure, the proposed actuator achieves a 64% increase in bending angle, a 70% reduction in response time, and a 67% decrease in driving voltage. By independently controlling multiple heating elements, the actuator exhibits programmable deformation modes, including local, symmetric, and sinusoidal bending. The relationship between input voltage and deformation amplitude is described using a sinusoidal function model, experimentally validated for accuracy. Compared to traditional actuators, the proposed design offers significant improvements in bending angle, response speed, and voltage requirements. By optimizing the conductive silver paste pattern and voltage input strategy, this work develops a low-voltage, highly controllable, multi-mode programmable actuator with potential for applications in flexible robotics and space-deformable antennas.