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Related Concept Videos

Plastic Deformation in Circular Shafts01:20

Plastic Deformation in Circular Shafts

When materials are subjected to forces that surpass their yield strength, they undergo a process known as plastic deformation. This results in a permanent alteration or strain in their structure. This concept can be specifically applied to circular shafts, where the deformation leads to a change in its shape. The precise evaluation of this plastic deformation requires understanding the stress distribution within the circular shaft, which is achieved by calculating the maximum shearing stress in...
Circular Shafts - Elastoplastic Materials01:24

Circular Shafts - Elastoplastic Materials

The study of solid circular shafts under stress shows that within the elastic limit, stress increases directly to the distance from the shaft's center. This relationship holds until the shaft reaches a critical point of stress, beyond which it begins to yield, marking the transition from elastic to plastic deformation. At this crucial juncture, the maximum torque the shaft can endure without permanent deformation is determined, signifying the limit of its elastic behavior.
As torque on the...

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Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers
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Development for soft actuator with multilayer structure and its application.

Gyeongji Kang1,2, Kahye Song3

  • 1Intelligence and Interaction Research Center, Korea Institute of Science and Technology (KIST), Seoul, 02792, Republic of Korea.

Scientific Reports
|December 31, 2025
PubMed
Summary
This summary is machine-generated.

Soft actuators offer a compact alternative to traditional ones. This study developed a layered Hydraulically Amplified Self-Healing Electrostatics (HASEL) actuator for enhanced force and displacement, ideal for adaptable robotic systems.

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Area of Science:

  • Robotics and Mechanical Engineering
  • Materials Science

Background:

  • Traditional actuators often face limitations in size and portability due to extensive degrees of freedom.
  • Soft actuators present a promising alternative, offering compact designs, enhanced maneuverability, and versatile motion capabilities.

Purpose of the Study:

  • To develop a layered Hydraulically Amplified Self-Healing Electrostatics (HASEL) actuator for practical usability and efficient movement.
  • To enhance actuator performance through stacking single units to amplify angular displacement and output force.

Main Methods:

  • A Hydraulically Amplified Self-Healing Electrostatics (HASEL) actuator was configured in a layered structure.
  • The actuator operates via hydraulic pressure and volumetric expansion under high voltage.
  • Single actuator units were stacked to create a novel soft actuator with amplified performance.

Main Results:

  • A new type of soft actuator was realized by stacking single HASEL units.
  • The layered configuration amplified angular displacement and output force without requiring precise control.
  • Gripper performance was tunable by adjusting the number and arrangement of layers.

Conclusions:

  • Layered HASEL actuators offer practical usability and efficient movement, adaptable to various applications.
  • The developed soft grippers are suitable for systems requiring adaptability and mobility, such as smart farming.
  • This approach simplifies control and enhances performance through structural design.