Effects of Fiber Stiffening to a Soft Actuator with PEDOT/PSS Electrode Films on Actuation Cycling Stability.

In this work, we fabricated a fiber-stiffened soft actuator with PEDOT/PSS films as electrode. Embedding nylon fibers in the soft actuator successfully suppressed twisting deformations, resulting in a large and persistent actuation displacement. We evaluated the effects of the fiber spacing (1, 2, 3 and 4 mm) on the displacement and assessed the actuation displacement as a function of applied voltage (0.5, 1.0 and 1.5 V) and frequency (0.2 and 1 Hz) with an actuation time of 500 s. We demonstrated that the fiberstiffened actuator with 2 mm fiber spacing exhibited steady actuation cycles (4.2 mm average displacement) in comparison with those with different spacings (1, 3, and 4 mm) and that without the fiber.