Hydraulically amplified self-healing electrostatic actuators with muscle-like performance
Hydraulically amplified self-healing electrostatic actuators with muscle-like performance
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DOI：
10.1126/science.aao6139
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发表时间：
2018-01-05
期刊：
影响因子：
56.9
通讯作者：
Keplinger, C.
中科院分区：
文献类型：
--
作者：
Acome, E.;Mitchell, S. K.;Keplinger, C.
现有的软致动器存在持续的挑战，限制了软机器人的潜力，突出了对强大、高速、高效和鲁棒的软换能器的需求。我们描述了一类软致动器，称为液压放大自愈静电（HASEL）致动器，它利用耦合静电和液压力的机制来实现各种致动模式。我们介绍了HASEL致动器的原型设计，并展示了它们的坚固，肌肉般的性能以及它们在电介质击穿后反复自愈的能力-所有这些都使用了广泛可用的材料和常见的制造技术。一种能够处理易碎物体的软抓取器和一种能够为机械臂提供动力的自感知人造肌肉，说明了HASEL致动器在下一代软机器人设备中的广泛潜力。
Existing soft actuators have persistent challenges that restrain the potential of soft robotics, highlighting a need for soft transducers that are powerful, high-speed, efficient, and robust. We describe a class of soft actuators, termed hydraulically amplified self-healing electrostatic (HASEL) actuators, which harness a mechanism that couples electrostatic and hydraulic forces to achieve a variety of actuation modes. We introduce prototypical designs of HASEL actuators and demonstrate their robust, muscle-like performance as well as their ability to repeatedly self-heal after dielectric breakdown-all using widely available materials and common fabrication techniques. A soft gripper handling delicate objects and a self-sensing artificial muscle powering a robotic arm illustrate the wide potential of HASEL actuators for next-generation soft robotic devices.