Challenges in Dielectric Elastomer Artificial Muscles: Paving the Way for Real-World Soft-Robot Applications

Dielectric elastomer actuators (DEAs) have emerged as leading candidates for artificial muscles in high-performance soft robotics, simultaneously offering large reversible deformations, excellent mechanical compliance, a fast response, and a high energy density. These features make them ideal for broad applications that require versatile adaptability, lightweight construction, and safe human-machine interactions. Despite their potential, their practical implementation remains hindered by several interrelated challenges, including high driving voltages, poor electromechanical stability, limited power density, and inadequate cycling durability. In addition, scalable fabrication techniques, particularly for large-area compliant electrodes and multilayer device structures, remain underdeveloped. Furthermore, the intrinsic, strongly nonlinear, and rate-dependent behavior of dielectric elastomers complicates accurate modeling and real-time control. This perspective provides a critical overview of recent developments in the material design, manufacturing strategies, and dynamic modeling of DEAs and identifies the key barriers and opportunities across these comprehensive domains. This perspective aims to accelerate the advancement of high-performance DEA systems and inspire innovative solutions for their integration into real-world soft-robot applications.