Department of Mechanical Engineering, University of Colorado, Boulder, CO 80309, USA.
Materials Science and Engineering Program, University of Colorado, Boulder, CO 80309, USA.
Science. 2018 Jan 5;359(6371):61-65. doi: 10.1126/science.aao6139.
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.
现有的软致动器存在一些持续存在的挑战，限制了软机器人的潜力，这凸显了对强力、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，称为液压放大自修复静电（HASEL）致动器，它利用一种将静电和液压结合起来的机制来实现各种致动模式。我们引入了 HASEL 致动器的原型设计，并展示了它们坚固、类似肌肉的性能，以及在介电击穿后能够反复自我修复的能力——所有这些都使用了广泛可用的材料和常见的制造技术。一个用于处理易碎物体的软夹爪和一个为机械臂提供动力的自感测人工肌肉展示了 HASEL 致动器在下一代软机器人设备中的广泛应用潜力。
