This PDF file contains the front matter associated with SPIE Proceedings Volume 10163, including the Title Page, Copyright information, Table of Contents, Introduction (if any), and Conference Committee listing.

Bio-inspired intelligent robots are coming of age in both research and industry, propelling market growth for robots and A.I. However, conventional motors limit bio-inspired robotics. EAP actuators and sensors could improve the simplicity, compliance, physical scaling, and offer bio-inspired advantages in robotic locomotion, grasping and manipulation, and social expressions. For EAP actuators to realize their transformative potential, further innovations are needed: the actuators must be robust, fast, powerful, manufacturable, and affordable. This presentation surveys progress, opportunities, and challenges in the author’s latest work in social robots and EAP actuators, and proposes a roadmap for EAP actuators in bio-inspired intelligent robotics.

Electroactivity was noticed early in biological substances, including proteins, polynucleotides and enzymes, even piezoand pyroelectricity were found in wool, hair, wood, bone and tendon. Recently, ferroelectricity has been identified in a surprisingly large number of biologically relevant materials, including hydroxyapatite, aortic walls and elastin. Inspired by the variety of natural electroactive materials, a wealth of new elastomers and polymers were designed recently, including an all organic elastomer electret and self-healing dielectric elastomers. Let’s further draw inspiration from nature and widen the utilization of electroactive polymers towards (mobile) healthcare and biomedical applications. Ferroelectrets, internally charged polymer foams with a strong piezoelectric thickness coefficient are employed in biomedical sensing, for example as blood pressure and pulse sensor, as vital signs monitor or for the detection of tonicclonic seizures. Piezo- and pyroelectric polymers are booming in printed electronics research. They provide electronic skin the ability to “feel” pressure and temperature changes, or to generate electrical energy from vibrations and motions, even from contractile and relaxation motions of the heart and lung. Dielectric elastomers are pioneered by StretchSense as wearable motion capture sensors, monitoring pressure, stretch, bend and shear, quantifying comfort in sports and healthcare. On the cellular level, electroactive polymer arrays are used to study mechanotransduction of individual cells. Ionic electroactive polymers show potential to be used in implantable electroactive biomedical devices. Already with the currently available science and technology, we are at the verge of witnessing the demonstration of truly complex bionic systems.

In the past decades the development of compliant dielectric materials, capable of storing high electric energy density, is the object of considerable research efforts for commercial applications. Compared to the widely used soft dielectrics as compliant insulators, only a small variety of commercially products based on dielectric polymer transducers are available on the market up to date. A whole bunch of research activities worldwide has created a lot of very useful knowledge; but many researchers have been faced to different obstacles to manufacture devices for demonstrations. However, building handy demonstrators is one of the most relevant action in order to attract the interest of decision makers of industrial companies. Moreover, low cost devices strictly require highly efficient production methods and facilities to become competitive on the market. This aspect contains the ultimate requirement especially for very high output rates and represents one of the major topic at most negotiations. All technological problems linked to this issue have been addressed only a little in the past R+D activities and are still widely not satisfactory solved. The present talk will provide an overview of the options for opening the door of industrial production of polymer transducers and the remaining obstacles to be solved for the next step. In particular, the most relevant actions to be taken for enabling high capacity production at very low cost will be discussed, which have an essential impact on the direction of future research activities.

There is increasing interest in creating bendable and stretchable electronic interfaces that can be worn or applied to virtually any surface. The electroactive polymer community is well placed to add value by incorporating sensors and actuators. Recent work has demonstrated transparent dielectric elastomer actuation as well as pressure, stretch or touch sensing. Here we present two alternative forms of sensing. The first uses ionically conductive and stretchable gels as electrodes in capacitive sensors that detect finger proximity. In this case the finger acts as a third electrode, reducing capacitance between the two gel electrodes as it approaches, which can be detected even during bending and stretching. Very light finger touch is readily detected even during deformation of the substrate. Lateral resolution is achieved by creating a sensor array. In the second approach, electrodes placed beneath a salt containing gel are able to detect ion currents generated by the deformation of the gel. In this approach, applied pressure results in ion currents that create a potential difference around the point of contact, leading to a voltage and current in the electrodes without any need for input electrical energy. The mechanism may be related to effects seen in ionomeric polymer metal composites (IPMCs), but with the response in plane rather than through the thickness of the film. Ultimately, these ionically conductive materials that can also be transparent and actuate, have the potential to be used in wearable devices.

“Soft, stretchable, and unobtrusive”. These are some of the attributes frequently associated with capacitive dielectric elastomer (DE) sensors for body motion capture. While the sensors themselves are soft and elastic, they require rigid peripheral components for capacitance measurement. Each sensor is connected to a separate channel on the sensing circuitry through its own set of wires. In wearable applications with large numbers of sensors, this can lead to a considerable circuit board footprint, and cumbersome wiring. The additional equipment can obstruct movement and alter user behaviour. Previous work has demonstrated how a transmission line model can be applied to localise deformation on a single DE sensor. Building on this approach, we have developed a distributed sensing method by arranging capacitive DE sensors and external resistors to form a transmission line, which is connected to a single sensing channel with only one set of wires. The sensors are made from conductive fabric electrodes, and silicone dielectrics, and the external resistors are off-the-shelf metal film resistors. Excitation voltages with different frequencies are applied to the transmission line. The lumped transmission line capacitances at these frequencies are passed on to a mathematical model that calculates individual sensor capacitance changes. The prototype developed for this study is capable of obtaining separate readings for simultaneously stretched sensors.

Diving, initially motivated for food purposes, is crucial to the oil and gas industry, search and rescue, and is even done recreationally by millions of people. There is a growing need however, to monitor the health and activity of divers. The Divers Alert Network has reported on average 90 fatalities per year since 1980. Furthermore an estimated 1000 divers require recompression treatment for dive-related injuries every year. One means of monitoring diver activity is to integrate strain sensors into a wetsuit. This would provide kinematic information on the diver potentially improving buoyancy control assessment, providing a platform for gesture communication, detecting panic attacks and monitoring diver fatigue. To explore diver kinematic monitoring we have coupled dielectric elastomer sensors to a wetsuit worn by the pilot of a human-powered wet submarine. This provided a unique platform to test the performance and accuracy of dielectric elastomer strain sensors in an underwater application. The aim of this study was to assess the ability of strain sensors to monitor the kinematics of a diver.

This study was in collaboration with the University of Auckland's human-powered submarine team, Team Taniwha. The pilot, completely encapsulated in a hull, pedals to propel the submarine forward. Therefore this study focused on leg motion as that is the primary motion of the submarine pilot. Four carbon-filled silicone dielectric elastomer sensors were fabricated and coupled to the pilot's wetsuit. The first two sensors were attached over the knee joints, with the remaining two attached between the pelvis and thigh. The goal was to accurately measure leg joint angles thereby determining the position of each leg relative to the hip. A floating data acquisition unit monitored the sensors and transmitted data packets to a nearby computer for real-time processing. A GoPro Hero 4 silver edition was used to capture the experiments and provide a means of post-validation. The ability of the sensors to measure joint angles was assessed by examining GoPro footage in the image processing software, ImageJ.

This paper applies dielectric elastomer sensor technology to monitoring the leg motion of a diver. The experimental set-up and results are presented and discussed.

Dual sensing artificial muscles based on conducting polymer are faradaic motors driven by electrochemical reactions, which announce the development of proprioceptive devices. The applicability of different composites has been investigated with the aim to improve the performance. Addition of carbon nanotubes may reduce irreversible reactions. We present the testing of a dual sensing artificial muscle based on a conducting polymer and carbon nanotubes composite. Large bending motions (up to 127 degrees) in aqueous solution and simultaneously sensing abilities of the operation conditions are recorded. The sensing and actuation equations are derived for incorporation into a control system.

New sensors based on dielectric elastomers have recently been shown to exhibit high sensitivity for compression loads. The basic design of these sensors exhibits two profiled surfaces coated with electrode layers between which an elastomer film with the counter-electrode is confined. All components of the sensor are prepared with silicone whose stiffness can be varied in a wide range. Depending on the details of the sensor design, various effects contribute to the enhancement of the capacitance. The intermediate elastomer film is stretched upon compression, the elastomer profiles are deformed and the electrode layers on the elastomer profiles and in the elastomer film approach each other. Beside the detection of pressure, such sensors can also be used for operation tools in human-machine interfaces. To demonstrate this potential, a touch pad with six pressure-sensitive fields is presented. The corresponding sensors integrated in the touch fields detect the exerted forces of the finger, show them on a display and control the brightness of some LEDs. As a second example, the integration of sensor-based control fields on an automotive steering wheel is shown. Finally, the sensors can also be used in fabrics to control arbitrary functions of wearable electronic devices.

Dielectric elastomers are novel soft smart material that could deform sustainably when subjected to external electric field. That makes dielectric elastomers promising materials for actuators. In this paper, a spring-roll actuator that would bend when a high voltage is applied was fabricated based on dielectric elastomer. Using such actuators as active parts, the flexible grippers and inchworm-inspired crawling robots were manufactured, which demonstrated some examples of applications in soft robotics. To guide the parameters design of dielectric elastomer based spring-roll bending actuators, the theoretical model of such actuators was established based on thermodynamic theories. The initial deformation and electrical induced bending angle of actuators were formulated. The failure of actuators was also analyzed considering some typical failure modes like electromechanical instability, electrical breakdown, loss of tension and maximum tolerant stretch. Thus the allowable region of actuators was determined. Then the bending angle-voltage relations and failure voltages of actuators with different parameters, including stretches of the dielectric elastomer film, number of active layers, and dimensions of spring, were investigated. The influences of each parameter on the actuator performances were discussed, providing meaningful guidance to the optical design of the spring-roll bending actuators.

Dielectric elastomer (DE) is a type of soft actuating material, the shape of which can be changed under electrical voltage stimuli. DE materials have great potential in applications involving energy harvesters, micro-manipulators, and adaptive optics. In this paper, a stripe DE actuator with integrated sensing and actuation is designed and fabricated, and characterized through several experiments. Considering the actuator’s capacitor-like structure and its deform mechanism, detecting the actuator’s displacement through the actuator’s circuit feature is a potential approach. A self-sensing scheme that adds a high frequency probing signal into actuation signal is developed. A fast Fourier transform (FFT) algorithm is used to extract the magnitude change of the probing signal, and a non-linear fitting method and artificial neural network (ANN) approach are utilized to reflect the relationship between the probing signal and the actuator’s displacement. Experimental results showed this structure has capability of performing self-sensing and actuation, simultaneously. With an enhanced ANN, the self-sensing scheme can achieve 2.5% accuracy.

One of the challenges of modern science is the development of actuators able to sense working conditions while actuation, mimicking the way in which biological organs work. Actuation of those organs includes nervous (electric) pulses dense reactive gels, chemical reactions exchange of ions and solvent. For that purpose, conducting polymers are being widely studied. In this work the properties of self-supported films of the polypyrrole:polyvinilsulfate (PPy/PVS) blend polymer were assessed. X-ray photoelectron spectroscopy (XPS) studies show how during reduction / oxidation the polymer exchanges cations when immersed in a NaClO₄ aqueous solution, revealing free positive charges in the electrolytic solution as the driving agents leading to the swelling/shrinking of the polymer. Eventually it is the phenomenon responsible of the actuation of the polymeric motors. Submitting the system to consecutive potential sweeps shows the reaction is really sensing the scan rate used in each cycle revealing that while actuating the system is actually sensing the electrochemical working conditions.

Recently, a styrenic rubber membrane (commercialized under the name of “THERABAND YELLOW 11726”) demonstrated excellent electromechanical properties for the development of high power density and highly efficient dielectric elastomer transducers (DETs). In particular, in an experimental application as generator, an inflated circular diaphragm DET based on this material made it possible to consistently convert pneumatic energy into electricity at a maximum energy density per cycle and power density greater than 400 J/kg and 650 W/kg, respectively, with even higher numbers being expected for DETs configured so as to have the material working in uniform states of deformation. As for any other existing dielectric elastomer material, these experimented performances can however be sustained for a limited number of cycles only, after which the DET will fail irreversibly. To date, very little information is available on the fatigue life performances of dielectric elastomer materials and of the transducers made thereof. Having identified the electrical breakdown as the most probable mode of DET failure, this paper reports for the first time on a set of lifetime constant-electric-stress tests conducted on the considered styrenic dielectric elastomer membrane. Specifically, the paper starts with a description of the employed experimental set-up and procedures. Then, it summarizes the obtained experimental results. Finally, it concludes with a discussion on how the acquired data could be used in a design procedure to find optimal tradeoffs between DET performance and lifetime/reliability.

Dielectric Elastomer Generators (DEG) can capture energy from natural movement sources such as wind, the tides and human locomotion. The harvested energy can be used for low power devices such as wireless sensor nodes and wearable electronics. A challenge for low power DEG is overcoming the losses associated with charge management. A circuit which can do this exists: the Self Priming Circuit (SPC) which consists of diodes and capacitors. The SPC is connected in parallel to the DEG where it transfers charge onto/o_ the DEG based on changes in the DEG capacitance. Modelling and experimental validation of the SPC have been performed in the past, allowing design and implementation of effective SPCs which match a particular DEG. While the SPC is effective, it is still an external circuit which adds additional mass and cost to the DEG. By splitting the DEG into separate capacitors and using them to build an SPC, the Integrated SPC (I-SPC) can be realized. This reduces the components required to build a SPC/DEG and improves the performance. This paper presents a mathematical model with experimental data of a first order I-SPC. Additionally, comparisons between the SPC and I-SPC are drawn.

Additive manufacturing techniques are used to create three-dimensional structures with complex shapes and features from polymer and/or metal materials. For example, fused filament three-dimensional (3D) printing utilizes non-electroactive polymers, such as acrylonitrile butadiene styrene (ABS) and polylactic acid (PLA), to build structures and components in a layer-by-layer fashion for a wide variety of applications. Presented here is a summary of recent work on a fused filament 3D-printing technique to create 3D ionic polymer-metal composite (IPMC) structures for applications in soft robotics. The 3D printing technique overcomes some of the limitations of existing manufacturing processes for creating IPMCs, such as limited shapes and sizes and time-consuming manufacturing steps. In the process described, first a precursor material (non-acid Nafion precursor resin) is extruded into a thermoplastic filament for 3D printing. Then, a custom-designed 3D printer is described that utilizes the precursor filament to manufacture custom-shaped structures. Finally, the 3D-printed samples are functionalized by hydrolyzing them in an aqueous solution of potassium hydroxide and dimethyl sulfoxide, followed by application of platinum electrodes. Presented are example 3D-printed single and multi-degree-of-freedom IPMC actuators and characterization results, as well as example soft-robotic devices to demonstrate the potential of this process.

Ionic Polymer-Metal Composites (IPMC) are common soft actuators that are Nafion® based and plated with a conductive metal, such as platinum, gold, or palladium. Nafion® is available in three forms: sheets, pellets, and water dispersion. Nafion® sheets can be cut to the desired dimensions and are best for rectangular IPMCs. However, the user is not able to change the thickness of these sheets by stacking and melting because Nafion® does not melt. A solution to this is Nafion® pellets, which can melt. These can be used for extrusion and injection molding. Though Nafion® pellets can be melted, they are difficult to work with, making the process quite challenging to master. The last form is Nafion® Water Dispersion, which can be used for casting. Casting can produce the desired thickness, but it does not solve the problem of achieving complex contours. The current methods of fabrication do not allow for complex shapes and structures. To solve this problem, two methods are presented: painting and printing. The painting method uses Nafion® Water Dispersion, an airbrush, and vinyl stencils. The stencils can be made into any shape with detailed edges. The printing method uses Nafion® pellets that are extruded into filaments and a commercially available 3D printer. The models are drawn in a Computer-Aided Drawing (CAD) program, such as SolidWorks. The produced Nafion® membranes will be compared with a commercial Nafion® membrane through a variety of tests, including Fourier Transform Infrared Spectroscopy, Scanning Electron Microscope, Thermogravimetric Analysis, Dynamic Mechanical Analysis, and Optical Microscope.

Ionic Polymer-Metal Composites (IPMC) are highly functional actuators that find many uses in the field of soft robotics due to their low actuation voltage and ability to operate in aquatic environments. The actuation of an IPMC relies on the swelling of the negatively charged side when a potential is applied, due to the free-moving cations and water molecules migrating to that half. While this bending type actuation can be utilized to perform many tasks, it is ill suited for the primary propulsion mechanism in certain soft robotic applications. Here, a new conceptual design is presented which utilizes the bending of IPMC materials to achieve complex actuation motion in an attempt to generate a non-zero net thrust for propulsion of soft robots. The design capitalizes on advances in the manufacturing processes of electroactive polymer materials, which now allow for more complex shapes and thus new and unique modes of actuation. By utilizing the consistent bending deformation of IPMC actuators, in conjunction with carefully considered geometry, an IPMC driven body may serve as a primary mode of propulsion through a positive net thrust generation. This work consists of the initial feasibility study, concept testing, and optimization for such an actuator through computer modeling and simulation. COMSOL will be used for the finite element analysis to design the most efficient and optimized design for a positive net thrust generation. Such an IPMC design may find a great deal of applications, and the potential of future integration into other soft robotic systems is considered.

Ionic polymer-metal composite (IPMC) is a promising material for soft-robotic actuator and sensor applications. This material system offers large deformation response for low input voltage and has an aptitude for operation in hydrated environments. Researchers have been developing IPMC actuators and sensors for applications with examples of self-sensing actuators, artificial fish fins and biomimicry of other aquatic lifeforms, and in medical operations such as in guided catheter devices. IPMCs have been developed in a range of geometric configurations, with tube or cylindrical and flat-plate rectangular as the most common shapes. Several mathematical and physics-based models have been developed for describing the transduction effects of IPMCs. In this work, the underlying theories of electromechanical and mechanoelectrical transduction in IPMCs are discussed, and simulated results of frequency response and shear response are presented. A model backbone is utilized which is primarily based on ion-transport and charge dynamics within the polymer membrane. The electromechanical model, that is with an IPMC as an actuator, is caused when an electric field is applied across the membrane causing ionic migration and swelling in the polymer membrane, which is based on the Poisson-Nernst-Planck equations and solid mechanics models. The mechanoelectric model is similar in underlying physics; however, the primary mechanisms of transduction are of different significance, where anion concentrations are as important as cations. COMSOL Multiphysics is utilized for simulations. Example applications of the modeling framework are presented. The simulated results provide additional support for the underlying physics theories discussed.

Ionic Polymer Metal Composites (IPMCs) are electro-responsive materials for sensing and actuation, consisting of an ion-exchange polymeric membrane with ionized units, plated within noble metal electrodes. In this work, we investigate the sensing response of IPMCs that are subject to a through-the-thickness compression, by specializing the continuum model introduced by Cha and Porfiri,¹ to this one-dimensional problem. This model modifies the classical Poisson-Nernst-Plank system governing the electrochemistry in the absence of mechanical effects, by accounting for finite deformations underlying the actuation and sensing processes. With the aim of accurately describing the IPMC dynamic compressive behavior, we introduce a spatial asymmetry in the properties of the membrane, which must be accounted for to trigger a sensing response. Then, we determine an analytical solution by applying the singular perturbation theory, and in particular the method of matched asymptotic expansions. This solution shows a good agreement with experimental findings reported in literature.

As a kind of dielectric elastomer actuators, dielectric elastomer minimum energy structure (DEMES) can realize large angular deformations by small voltage-induced strains, which make them an attractive candidate for use as biomimetic robotics. Considering the rotary joint is a basic and common component of many biomimetic robots, we have been fabricated rotary joint by DEMES and developed its performances in the past two years. In this paper, we have discussed the static analysis, dynamics analysis and some characteristics of the DEMES rotary joint. Based on theoretical analysis, some different applications of the DEMES rotary joint were presented, such as a flapping wing, a biomimetic fish and a two-legged walker. All of the robots are fabricated by DEMES rotary joint and can realize some basic biomimetic motions. Comparing with traditional rigid robot, the robot based on DEMES is soft and light, so it has advantage on the collision-resistant.

We report on the use of dielectric elastomer actuators (DEAs) to measure the traction force field of cells with subcellular resolution. The study of cellular electrochemical and mechanical response to deformation is an important area of research, as mechanotransduction has been shown to be linked with fundamental cell functions, or the progression of diseases such as cancer or atherosclerosis. Experimental cell mechanics is based on two fundamental concepts: the ability to measure cell stiffness, and to apply controlled strains to small clusters of cells. However, there is a lack of tools capable of applying precise deformation to a small cell population while being compatible with an inverted microscope (stable focal plane, transparency, compactness, etc.). Here, we use an anisotropically prestretched silicone-based DEA to deform a soft (7.6kPa) polyacrylamide gel on which the cells are cultured. An array of micro-dots of fluorescent fibronectin is transferred on the gel by micro-contact printing and serves as attachment points for the cells. In addition, the fluorescent dots (which have a diameter of 2 μm with a spacing of 6 μm) are used during the experiment to monitor the traction forces of a single cell (or small cluster of cells). The cell locally exerts traction on the gel, thus deforming the matrix of dots. The position of dots versus time is monitored live when the cells are submitted to a uniaxial strain step. Our deformable bioreactor enables the measurement of the local stiffness of cells submitted to mechanical strain, and is fully compatible with an inverted microscope set-up.

In recent years, dielectric elastomer actuators (DEA) have been investigated as artificial muscle for soft robots, thanks to their light weight, high energy density, and silent operation. Moreover, the low stiffness of the dielectric elastomer (DE) material allows DEA to exhibit large actuation strain. On the other hand, the intrinsic softness of DEA limits their blocking and holding force. Therefore, incorporating variable stiffness structures into DEA is necessary to leverage both large actuation strain, and large holding force from such actuators. This work describes the modeling, fabrication, and characterization of a variable-stiffness DEA (VSDEA) based on interlaminar electrostatic chucking. The VSDEA consists of a multitude of stacked multilayer unimorph DEA units, where each unit consists of a passive layer and one or more active DE layers whose expansion under applied voltage induces bending of the DEA unit. Adhesion between the DEA units is mediated by electrostatic attraction caused by opposite charges accumulating on the interfacial surfaces between each unit. The bending stiffness of the VSDEA is controlled by increasing or decreasing the charge on the interfacial surfaces; large deformation can be achieved when the unit interfaces are allowed to freely slip, and a large increase in stiffness is realized when electrostatic chucking is applied.

Nitinol microwires of 25 μm in diameter can have tensile actuation of up to 4.5% in less than 100 ms. A work density of up to 480 MPa can be achieved from these microwires. In the present work, we are showing that by twisting the microwires in form of closed-loop two-ply yarn we can create a torsional actuator. We achieved a revisable torsional stroke of 46°/mm with peak rotational speed of up to 10,000 rpm. We measured a gravimetric torque of up to 28.5 N•m/kg which is higher than the 3 – 6 N•m/kg for direct-drive commercial electric motors. These remarkable performance results are comparable to those of guest-infiltrated carbon nanotube twisted yarns.

The applications and feasibility of utilizing dielectric elastomer electroactive polymers in the industrial and medical sectors has drastically increased in recent years due to significant improvements in actuation potential, manufacturing, the introduction of new materials and modeling capabilities. One such development is the introduction of chemical pre-strain as a method of providing enhanced actuation. The purpose of this study was to utilize finite element analysis to analyze the mechanical actuation of an industrial fluoropolymer with chemical induced pre-strain and validate the model with experiential results. Results generated from the finite element analysis showed similar trends to results produced experimentally.

Dielectric elastomer is a kind of typical soft active material. It can deform obviously when subjected to an external voltage. When a dielectric elastomer with randomly oriented dipoles is subject to an electric field, the dipoles will rotate to and align with the electric field. The polarization of the dielectric elastomer may be saturated when the voltage is high enough. When subjected to a mechanical force, the end-to-end distance of each polymer chain, which has a finite contour length, will approach the finite value, reaching a limiting stretch. On approaching the limiting stretch, the elastomer stiffens steeply. Here, we develop a thermodynamic constitutive model of dielectric elastomers undergoing polarization saturation and strain-stiffening, and then investigate the stability (electromechanical stability, snap-through stability) and voltage induced deformation of dielectric elastomers. Analytical solution has been obtained and it reveals the marked influence of the extension limit and polarization saturation limit on its instability. The developed thermodynamic constitutive model and simulation results would be helpful in future to the research of dielectric elastomer based high-performance transducers.

Dielectric elastomers (DEs) are the leading technology for artificial muscles due to a favorable combination of large stroke, fast response, and high energy density. However, at large actuations, DEs are prone to spontaneous rupture from electromechanical instability. This shortcoming is currently circumvented by chemical or physical bracing, which increases bulk and rigidity of the total actuator assembly and leads to significant cutbacks in device efficiency and utility. Now, we present a molecular design platform for the creation of freestanding actuators that allow for large stroke (>300%) at low applied fields (<10 V μm-1) in unconstrained as cast shapes. This approach is based on bottlebrush architecture, which features inherently strained polymer networks that eliminate electromechanical instability and the need for bracing. Through accurate control of side-chain length and crosslink density, we obtained effective actuation properties on par with commercial actuators with the advantage of lighter weight, lower voltage operation, and ease of fabrication, which open new opportunities in soft-matter robotics. Furthermore, incorporation of dynamic reversible bonds ensures self-healing of rupture actuators.

Twist and Coiled soft Actuator (TCA) is simply fabricated by twisting a polymer fiber. In the previous researches, TCA was mainly fabricated with Nylon 6,6 fiber, and Nylon-TCA (NTCA) showed strong force outputs. However, the strain from NTCA was not much enough for practical application. This paper introduces SPX-TCA (STCA) which is fabricated with Spandex fibers. NTCA and STCA were fabricated, and their performances were compared by using the performance evaluation device. STCA showed larger strain, and it was actuated lower temperature than NTCA.

Dielectric elastomers (DE’s) represent a transduction technology with high potential in many fields, including industries, due to their low weight, flexibility, and small energy consumption. For industrial applications, it is of fundamental importance to quantify the lifetime of DE technology, in terms of electrical and mechanical fatigue, when operating in realistic environmental conditions. This work contributes toward this direction, by presenting the development of an experimental setup which permits systematic fatigue testing of DE membranes. The setup permits to apply both mechanical and electrical stimuli to several membranes simultaneously, while measuring at the same time their mechanical (force, deformation) and electrical response (capacitance, resistance). In its final state, the setup will allow to test up to 15 DE membranes at the same time for several thousands of cycles. Control of the modules, monitoring of the actuators, and data acquisition are realized on a cRio FPGA-system running with LabVIEW. The setup is located in a climate chamber, in order to investigate the fatigue mechanisms at different environmental conditions, i.e., in terms of temperature and humidity. The setup consists of two main parts, namely a fatigue group and a measurement group. The fatigue group stays permanently in the climate chamber, while the measurement group is assembled to the fatigue group and allows to perform measurements at 20°C.

Dielectric Elastomers (DE) represent an attractive technology for the realization of mechatronic actuators, due to their lightweight, high energy density, high energy efficiency, scalability, and low noise features. In order to produce a stroke, a DE membrane needs to be pre-loaded with a mechanical biasing mechanism. In our previous works, we compared the stroke achieved with different biasing mechanisms for a circular out-of-plane DE Actuator (DEA), i.e., hanging masses, linear and bi-stable springs. The novel contribution of this paper is the investigation of a biasing design approach based on permanent magnets. The resulting magnet-based actuators are usually more compact than the spring-based ones, allowing to obtain more compact systems. Two design solutions are proposed and compared, namely a first one characterized by a stable actuation, and a second one which permits to achieve a higher stroke, but it is intrinsically unstable. The effectiveness of the novel design solution is assessed by means of several experiments.

3D printing technology has been used for rapid prototyping since 1980’s and is still developing in a way that can be used for customized products with complex design and miniature features. Among all the available 3D printing techniques, Fused Deposition Modeling (FDM) is one of the most widely used technologies because of its capability to build different structures by employing various materials. However, complexity of parts made by FDM is greatly limited by restriction of using support materials. Support materials are often used in FDM for several complex geometries such as fully suspended shapes, overhanging surfaces and hollow features. This paper describes an approach to 3D print a structure using silicone elastomer and polylactide fiber (PLA) by employing a novel support material that is soluble in water. This support material is melted sugar which can easily be prepared at a low cost. Sugar is a carbohydrate, which is found naturally in plants such as sugarcane and sugar beets; therefore, it is completely organic and eco-friendly. As another advantage, the time for removing this material from the part is considerably less than other commercially available support materials and it can be removed easily by warm water without leaving any trace. Experiments were done using an inexpensive desktop 3D printer to fabricate complex structures for use in soft robots. The results envision that further development of this system would contribute to a method of fabrication of complex parts with lower cost yet high quality.

In anticipation of deep space travel, new materials are being explored to assist and relieve humans in dangerous environments, such as high radiation, extreme temperature, and extreme pressure. Ras Labs Synthetic Muscle™ – electroactive polymers (EAPs) that contract and expand at low voltages – which mimic the unique gentle-yet-strong nature of human tissue, is a potential asset to manned space travel through protective gear and human assist robotics and for unmanned space exploration through deep space. Gen 3 Synthetic Muscle™ was proven to be resistant to extreme temperatures, and there were indications that these materials would also be radiation resistant. The purpose of the Ras Labs-CASIS-ISS Experiment was to test the radiation resistivity of the third and fourth generation of these EAPs, as well as to make them even more radiation resistant. On Earth, exposure of the Generation 3 and Generation 4 EAPs to a Cs-137 radiation source for 47.8 hours with a total dose of 305.931 kRad of gamma radiation was performed at the US Department of Energy’s Princeton Plasma Physics Laboratory (PPPL) at Princeton University, followed by pH, peroxide, Shore Hardness durometer, and electroactivity testing to determine the inherent radiation resistivity of these contractile EAPs, and to determine whether the EAPs could be made even more radiation resistant through the application of appropriate additives and coatings. The on Earth preliminary tests determined that selected Ras Labs EAPs were not only inherently radiation resistant, but with the appropriate coatings and additives, could be made even more radiation resistant. G-force testing to over 10 G’s was performed at US Army’s ARDEC Labs, with excellent results, in preparation for space flight to the International Space Station National Laboratory (ISS-NL). Selected samples of Generation 3 and Generation 4 Synthetic Muscle™, with various additives and coatings, were launched to the ISS-NL on April 14, 2015 on the SpaceX CRS-6 payload, and after 1+ year space exposure, returned to Earth on May 11, 2016 on SpaceX CRS-8. The results were very good, with the survival of all flown samples, which compared very well with the ground control samples. The most significant change observed was color change (yellowing) in some of the flown EAP samples, which in polymers can be indicative of accelerated aging. While the Synthetic Muscle Experiment was in orbit on the ISS-NL, photo events occur every 4 to 6 weeks to observe any changes, such as color, in the samples. Both the 32 flown EAP samples and 32 ground control samples were tested for pH, material integrity, durometer, and electroactivity, with very good results. The samples were also analyzed using stereo microscopy, scanning electron microscopy (SEM)), and energy dispersive X-ray spectroscopy (EDS). Smart electroactive polymer based materials and actuators promise to transform prostheses and robots, allowing for the treatment, reduction, and prevention of debilitating injury and fatalities, and to further our exploration by land, sea, air, and space.

Inkjet printing is an appealing technique to print electrodes for Dielectric Elastomer Actuators (DEAs). Here we present the preparation and ink-jet printing of a carbon black electrode mixture and characterise its properties. Carbon black has been used extensively in the past because it is very compliant; however, it has a high resistance and can be very dirty to work with. In this paper we show that carbon black remains an appropriate electrode material, and when inkjet printed can be used to fabricate devices meeting today’s demanding requirements. DEAs are becoming thinner to decrease actuation voltages and are shrinking in size to match the scale of the devices in the biomedical field, tuneable optics, and microfluidics. Inkjet printing addresses both of these problems. Firstly, Inkjet printing is a non-contact technique and can print on very thin freestanding membranes. Secondly, the high precision of inkjet printers makes it possible to print complex electrode geometries in the millimetre scale. We demonstrate the advantages of inkjet printing and carbon black electrodes by conducting a full characterisation of the printed electrodes. The printed carbon black electrodes have resistances as low as 13kΩ/□, an elastic modulus of approximately 1MPa, and a cyclic resistance swing which increases by 7% over 1500 cycles at 50% stretch. We also demonstrate a DEA with printed carbon black electrodes with a diametral stretch of 8.8% at an electric field of approximately 94V/μm. Finally a qualitative test is conducted to show that the printed carbon black electrode is extremely hardwearing.

Fast actuation of conducting polymer trilayers has been achieved by reducing the thickness of the device to as little as 6 μm. Reducing size also reduces force and displacement. Here the tradeoffs between speed of response, force and deformation angle are explored, and related to an example application – a tactile feedback interface that aims to make use of the very high sensitivity of our fingertip skin to vibrations of about 150 Hz. In general, the actuation rate in these devices is limited by the speed of charging, and by inertia. Here we use an established transmission line model to simulate charging speed. By making use of the empirical relationship between strain and charge, and using beam bending theory, the extent of charging enables estimation of the degree of actuator deformation and the forces that can be generated. In seeking to achieve non-resonant actuation at frequencies of 150 Hz or more, while also generating the forces and displacements needed for tactile stimulation, it is found that electronic and ionic conductivities of the conducting polymer electrodes needs to be on the order of 24,000 S/m and 0.04 S/m, respectively. These values along with the required dimensions appear to be feasible.

The ionic electroactive polymer (IEAP) actuators with carbonaceous electrodes and ionic liquid electrolytes are distinguished by their ability for operation in open air. Nevertheless, their behavior is influenced by at least two parameters of the ambient environment – temperature and humidity. Both parameters affect many factors of the IEAP materials: viscosity and ionic conductivity of the electrolyte, specific capacitance of the electrodes, stiffness of the polymer, etc. This circumstance makes it difficult to comprehend the actual physical and electrochemical processes occurring in the IEAP materials as well as hinders the control of the actuators in the possible applications. This work is focused on characterizing the temperature and humidity-dependence of the electromechanical and electrochemical response of IEAP actuators. An extensive experiment was performed with several types of IEAP actuators in a temperature- and humidity-controlled environment. The characterization of electrical and electromechanical response measurements were carried out at temperatures ranging from 0°C to +60°C and relative humidity ranging from 0% to 90%. The result showing that impact of both parameters on IEAP actuators is easily recognizable.

The blended ion exchange membrane between Nafion and Polyimide (PI) was used for fabrication of the ionic polymer–metal composite (IPMC) not only to redeem inherent drawbacks of Nafion such as high cost or environment-unfriendliness but also to enhance mechanical properties of Nafion. PI solution was blended in Nafion solution by a volume ratio and membranes were prepared through solution casting method. The prepared blended Nafion membranes can be fabricated IPMCs with electroless plating of platinum electrode onto its surface. The surface resistance of all prepared IPMCs is measured through 2-point probe. This study investigated the chemical structure and mechanical properties of prepared blended membranes. Moreover, we characterized the cross-section morphology and studied the electromechanical performances (displacement and blocking force) of prepared IPMC actuators. The prepared IPMC actuators with blended Nafion membranes were demonstrated comparable electromechanical performance by significantly reducing the content of Nafion.

Dielectric elastomers exhibit novel electromechanical coupling that has been exploited in many adaptive structure applications. Whereas the quasi-static, one-dimensional constitutive behavior can often be accurately quantified by hyperelastic functions and linear dielectric relations, accurate predictions of electromechanical, rate-dependent deformation during multiaxial loading is non-trivial. In this paper, an overview of multiaxial electromechanical membrane finite element modeling is formulated. Viscoelastic constitutive relations are extended to include fractional order. It is shown that fractional order viscoelastic constitutive relations are superior to conventional integer order models. This knowledge is critical for transition to control of legged robotic structures that exhibit advanced mobility.

Stimuli-sensitive hydrogels are polymeric materials, which are able to reversibly swell in water in response to evironmental changes. Relevant stimuli include variations of pH, temperature, concentration of specific ions etc. Stacked layers composed of multiple thin hydrogels - also referred to as hydrogel-layer composites - combine the distinct sensing properties of different hydrogels. This approach enables the development of sophisticated microfluidic devices such as bisensitive valves or fluid-sensitive deflectors. In order to numerically simulate the swelling of a polyelectrolyte hydrogel in response to an ion concentration change the multifield theory is adopted. The set of partial differential equations - including the description of the chemical, the electrical and the mechanical field - are solved using the Finite Element Method. Simulations are carried out on a two-dimensional domain in order to capture interactions between the different fields. In the present work, the ion transport is governed by diffusive and migrative fluxes. The distribution of ions in the gel and the solution bath result in an osmotic pressure difference, which is responsible for the mechanical deformation of the hydrogel-layer composite. The realized numerical investigation gives an insight into the evolution of the displacement field, the distribution of ions and the electric potential within the bulk material and the interface between gel and solution bath. The predicted behavior of the relevant field variables is in excellent agreement with results available in the literature.

There is a need for buoyancy engines to modulate sensor depth for optimal positioning and station-keeping. Compared to current technologies, Ionic Buoyancy Engines does not have any moving parts. They are energy efficient and miniaturization ready. Ionic Buoyancy Engines change their density by locally varying ionic concentrations in a closed chamber with a wall made of a semi-permeable membrane. The local change in concentration pumps water in and out of the chamber leading to buoyancy change. This study presents a model that is used to simulate the steady state controlled depth of the buoyancy engine, along with experimental results.

Dielectric elastomer actuators (DEA) are known for its capability of experiencing extreme strains, as it can expand and contract based on specific actuation voltage applied. On contrary, helical DEA (HDEA) with its unique configuration does not only provide the contractile and extendable capabilities, but also can aid in attaining results for bending and torsion. The concept of HDEA embraces many new techniques and can be applied in multiple disciplines. Thus, this paper focuses on the simulation of HDEA with helical compliant electrodes that is a major factor prior to its application. The attributes of the material used to build the structure plays a vital role in the behavior of the system. For numerical analysis of HDEA, the material characteristics are input into a commercial grade software, and then the appropriate analysis is performed to retrieve its outcome. Applying the material characteristics into numerical analysis modeling, the functionality of HDEA for various activations can be achieved, which is used to test and comply with the fabricated final product.

Due to the strain-stiffening of polymer chains, a membrane of dielectric elastomer (DE) can reach two different stable equilibrium states under a static electrical load. In this paper, a theoretical model is developed to investigate the strain-stiffening effect on the nonlinear vibration of a circular DE membrane subjected to electro-mechanical loading. Free vibration, steady parametric excitation and chaos of the DE membrane undergoing large deformation are studied respectively. We find that after a small perturbation the DE membrane vibrates steadily around the two stable stretches and two natural frequencies exist for the same loading condition. With the increase of initial perturbation energy, the amplitude-frequency response of free vibration shows a transition from behaving like a soft spring to a hard spring attributed to strain-stiffening effect. When driven by a sinusoidal voltage, the DE membrane can resonate at multiple frequencies of excitation around small and large stable equilibrium states respectively. Variation of the sinusoidal voltage may induce a sudden change from steady vibration to chaos and the critical conditions for the transition are numerically calculated.

Dielectric Elastomer Generators (DEGs) are an emerging energy harvesting technology based on a the cyclic stretching of a rubber-like membrane. However, most design processes do not take into account different excitation frequencies; thus limits the applicability studies since in real-world situations forcing frequency is not often constant. Through the use of a practical design scenario we use modeling and simulation to determine the material frequency response and, hence, carefully investigate the excitation frequencies that maximize the performance (power output, efficiency) of DEGs and the factors that influence it.

Dielectric elastomer transducers (DETs) have attracted interest as actuators, sensors, and even as self-sensing actuators for applications in medicine, soft robotics, and microfluidics. To reach strains of more than 10 %, they currently require operating voltages of several hundred volts. In medical applications for artificial muscles, however, their operation is limited to a very few tens of volts, which implies high permittivity materials and thin-film structures. Such micro- or nanostructures can be prepared using electro-spraying, a cost-effective technique that allows upscaling using multiple nozzles for the fabrication of silicone films down to nanometer thickness. Deposition rates of several micrometers per hour have already been reached. It has been recently demonstrated that such membranes can be fabricated by electro-spraying and subsequent ultraviolet light irradiation. Herein, we introduce a relatively fast deposition of a dimethyl silicone copolymer fluid that contains mercaptopropyl side chains in addition to the methyl groups. Its elastic modulus was tuned with the irradiation dose of the 200 W Hg-Xe lamp. We also investigated the formation of elastomer films, using polymer concentrations in ethyl acetate of 1, 2, 5 and 10 vol%. After curing, the surface roughness was measured by means of atomic force microscopy. This instrument also enabled us to determine the average elastic modulus out of, for example, 400 nanoindentation measurements, using a spherical tip with a radius of 500 nm. The elastomer films were cured for a period of less than one minute, a speed that makes it feasible to combine electro-spraying and in situ curing in a single process step for fabricating low-voltage, multilayer DETs.

The low-voltage operation is the key challenge for dielectric elastomer transducers (DET) to enter the application field of medically approved actuators or sensors, such as artificial muscles or skin. Recently, it has been successfully shown that the reduction of the elastomer film thickness to a few hundred nanometers allows for the DEA operation reaching 6 % strain using only a few volts. Molecular beam deposition (MBD) enables us to tailor elastomer films with low defect level. Combined with in situ spectroscopic ellipsometry, MBD is a unique method to reliably deposit polydimethylsiloxane (PDMS) thin films with true nanometer precision. The homogenous cross-linking of the PDMS film has been in situ realized by curing through ultraviolet (UV) radiation during deposition. We present the successful tailoring of the elastomer membrane’s elastic modulus down to a few hundreds of kPa by varying the UV-irradiation density. Atomic force microscopy (AFM) nano-indentation reveals homogeneously polymerized membranes. An adhesion layer of thiol-functionalized PDMS is applied to localize gold particles of the electrode layer to prevent diffusion into the nanometer-thin elastomer film and to reduce the leakage current. The understanding of leakage currents of such nanometer-thin elastomer films is crucial to preserve the unique actuation efficiency for DETs in low-voltage operation. Leakage currents are determined for a 200 nm-thin DEA as low as 10^-3 A/m² at applied electric fields of about 80 V/μm just before local breakdown events occur. Known as self-clearing, the vaporization of local defects enables to regain the functionality of the DET with subsequent reduced leakage current. AFM is utilized for the characterization of these DET low-voltage nanostructures regarding their vertical strain and actuation efficiency. A strain-to-voltage-squared (s/V²) ratio of 755 %/kV² for a single-layer 500 nm-thin DEA is acquired - by far the highest reported (s/V²)-value for thin-film DEAs. A two-layer DET nanostructure is compared to a single layer DET with doubled elastomer film thickness to evaluate the repeatedly discussed stiffening electrode effect. This occurs when DET nanostructures are stacked above hundreds of times, the major challenge remaining to realize biomimetic DET with forces and compliance close to the natural muscles.

Fabrication of micro-scale DEAs could benefit many fields including micro-robots, micro-optical systems besides reducing the driving voltage from kV scale to possibly sub-100V range. In an earlier study, proof of concept fabrication methods for PDMS-based fiber-like micro-sized stacked dielectric elastomer actuators were introduced. This study tried to optimize the fabrication process by investigating the effect of different fabrication approaches and different design geometries on the performance of micro-sized DEAs. Micro-sized DEAs with different geometrical parameters were fabricated. Several fabrication steps were modified and the effectiveness of the new fabrication steps and parameters were investigated.

Conducting polymer actuators have long been of interest as an alternative to piezoelectric and electrostatic actuators due to their large strains and low operating voltages. Recently, poly (3,4- ethylenedioxythiophene) (PEDOT) – based ionic actuators have been shown to overcome many of the initial obstacles to widespread application in micro-fabricated devices by demonstrating stable operation in air and at high frequencies, along with microfabrication compatible processing using a layer by layer method that does not require any handling. However, there is still a need for characterization, prediction, and control of the actuator behavior. This paper describes the fabrication and characterization of thin trilayers composed of a 7 μm thick solid polymer electrolyte (SPE) sandwiched between two 2.1 μm thick PEDOT-containing layers. Beam properties including capacitance, elastic moduli of the layers, and the extent of charge driven strain, are applied to predict curvature, frequency response and force generation. The actuator is represented by an electrical circuit, a mechanical system described via dynamic beam theory, and a strain-to-charge ratio for the electro-mechanical coupling matrix, which together predict the actuator curvature and the resonant response. The success of this physical model promises to enable design and control of micro-fabricated devices.

A peristaltic micropump using dielectric elastomer (DE) actuators is proposed and developed. The peristaltic micropump is designed so that diaphragm-type DE actuators are placed serially on a microchannel and volume changes due to diaphragm-type DE actuators can transfer fluid and pressure. In this report, we propose a novel MEMS process that enables us to place multiple DE actuators on the microchannel. In order to fabricate a DE actuator using a MEMS technology, ultraviolet (UV) curable materials for both compliant electrodes and DE were selected. Poly(3, 4- ethylenedioxythiophene) polystyrene sulfonate (PEDOT:PSS) was used for compliant electrodes. PEDOT:PSS is a polymer mixture of two ionomers and a conductive, transparent polymer. As a DE material, polydimethylsiloxane (PDMS) was used. PDMS is a silicon-based organic polymer and is widely used for the DE. In this research, both PEDOT:PSS and DE modified to have an UV curable property were used. In order to verify the proposed fabrication process, we developed a diaphragm-type DE actuator using UV curable PEDOT:PSS and PDMS. The DE actuator is a disk shape with 10 mm diameter and 0.8 mm thickness. A diaphragm-type DE actuator was fabricated in the order of (1) a bottom cover, (2) a bottom compliant electrode, (3) a DE, (4) a top compliant electrode, and (5) a top cover by using UV curable material patterning. In the driving experiment, we measured an out-of-plane displacement of 55 μm when 2.5 kV was applied to the DE actuator.

Multifunctional Dielectric Elastomer (DE) devices are well established as actuators, sensors and energy har- vesters. Since the invention of the Dielectric Elastomer Switch (DES), a piezoresistive electrode that can directly switch charge on and off, it has become possible to expand the wide functionality of DE structures even more. We show the application of fully soft DE subcomponents in biomimetic robotic structures. It is now possible to couple arrays of actuator/switch units together so that they switch charge between them- selves on and off. One can then build DE devices that operate as self-controlled oscillators. With an oscillator one can produce a periodic signal that controls a soft DE robot – a DE device with its own DE nervous system. DESs were fabricated using a special electrode mixture, and imprinting technology at an exact pre-strain. We have demonstrated six orders of magnitude change in conductivity within the DES over 50% strain. The control signal can either be a mechanical deformation from another DE or an electrical input to a connected dielectric elastomer actuator (DEA). We have demonstrated a variety of fully soft multifunctional subcomponents that enable the design of autonomous soft robots without conventional electronics. The combination of digital logic structures for basic signal processing, data storage in dielectric elastomer flip-flops and digital and analogue clocks with adjustable frequencies, made of dielectric elastomer oscillators (DEOs), enables fully soft, self-controlled and electronics-free robotic structures. DE robotic structures to date include stiff frames to maintain necessary pre-strains enabling sufficient actuation of DEAs. Here we present a design and production technology for a first robotic structure consisting only of soft silicones and carbon black.

Recently, dielectric elastomer actuators (DEAs) have gathered interest for soft robotics due to their low cost, light weight, large strain, low power consumption, and high energy density. However, developing reliable, compliant electrodes for DEAs remains an ongoing challenge due to issues with fabrication, uniformity of the conductive layer, and mechanical stiffening of the actuators caused by conductive materials with large Young’s moduli. In this work, we present a method for preparing, patterning, and utilizing conductive fluid electrodes. Further, when we submerse the DEAs in a bath containing a conductive fluid connected to ground, the bath serves as a second electrode, obviating the need for depositing a conductive layer to serve as either of the electrodes required of most DEAs. When we apply a positive electrical potential to the conductive fluid in the actuator with respect to ground, the electric field across the dielectric membrane causes charge carriers in the solution to apply an electrostatic force on the membrane, which compresses the membrane and causes the actuator to deform. We have used this process to develop a tethered submersible robot that can swim in a tank of saltwater at a maximum measured speed of 9.2 mm/s. Since saltwater serves as the electrode, we overcome buoyancy issues that may be a challenge for pneumatically actuated soft robots and traditional, rigid robotics. This research opens the door to low-power underwater robots for search and rescue and environmental monitoring applications.

Soft robotic and wearable robotic devices seek to exploit polymer based artificial muscles and sensor materials to generate biomimetic movements and forces. A challenge is to integrate the active materials into a complex, three-dimensional device with integrated electronics, power supplies and support structures. Both 3D printing and textiles technologies offer attractive fabrication strategies, but require suitable functional materials. 3D printing of actuating hydrogels has been developed to produce simple devices, such as a prototype valve. Tough hydrogels based on interpenetrating networks of ionicially crosslinked alginate and covalently crosslinked polyacrylamide and poly(N-isopropylacrylamide) have been developed in a form suitable for extrusion printing with UV curing. Combined with UV-curable and extrudable rigid acrylated urethanes, the tough hydrogels can be 3D printed into composite materials or complex shapes with multiple different materials. An actuating valve was printed that operated thermally to open or close the flow path using 6 parallel hydrogel actuators. Textile processing methods such as knitting and weaving can be used to generate assemblies of actuating fibres. Low cost and high performance coiled fibres made from oriented polymers have been used for developing actuating textiles. Similarly, braiding methods have been developed to fabricate new forms of McKibben muscles that operate without any external apparatus, such as pumps, compressors or piping.

Modern unmanned aerial vehicles are gaining promising success because of their versatility, flexibility, and minimized risk of operations. Most of them are normally designed and constructed based on hard components. For example, the body of the vehicle is generally made of aluminum or carbon fibers, and electric motors are adopted as the main actuators. These hard materials are able to offer reasonable balance of structural strength and weight. However, they exhibit apparent limitations. For instance, such robots are fragile in even small clash with surrounding objects. In addition, their noise is quite high due to spinning of rotors or propellers. Here we aim to develop a soft flying robot using soft actuators. Due to its soft body, the robot can work effectively in unstructured environment. The robot may also exhibit interesting attributes, including low weight, low noise, and low power consumption. This robot mainly consists of a dielectric elastomer balloon made of two layers of elastomers. One is VHB (3M), and the other is natural rubber. The balloon is filled with helium, which can make the robot nearly neutral. When voltage is applied to either of the two dielectric elastomers, the balloon expands. So that the buoyance can be larger than the robot’s weight, and the robot can move up. In this seminar, we will show how to harness the dielectric breakdown of natural rubber to achieve giant deformation of this soft robot. Based on this method, the robot can move up effectively in air.

The potential applications of humanoid robots in social environments, motivates researchers to design, and control biomimetic humanoid robots. Generally, people are more interested to interact with robots that have similar attributes and movements to humans. The head is one of most important part of any social robot. Currently, most humanoid heads use electrical motors, pneumatic actuators, and shape memory alloy (SMA) actuators for actuation. Electrical and pneumatic actuators take most of the space and would cause unsmooth motions. SMAs are expensive to use in humanoids. Recently, in many robotic projects, Twisted and Coiled Polymer (TCP) artificial muscles are used as linear actuators which take up little space compared to the motors. In this paper, we will demonstrate the designing process and motion control of a robotic head with TCP muscles. Servo motors and artificial muscles are used for actuating the head motion, which have been controlled by a cost efficient ARM Cortex-M7 based development board. A complete comparison between the two actuators is presented.

The main problem to obtain considerable deformation with dielectric electro-active polymer based technology is the electrical breakdown. A simple solution consists in pre-stretching the elastomer before activating it which cancels the snap-through effect and thus avoid reaching the electrical limit. Due to the stress characteristic of the DEAP, it could be demonstrated that a spring with a negative stiffness provides the best strain. In this paper, a new design of a monostable spring with a negative stiffness is suggested for a DEAP tubular shape actuator. The particularity of the proposed solution is the radial direction of the displacement with a special load characteristic. In order to determine the performance of the system, the mechanical and electrical behaviour are investigated through analytical models with the assumption that the axial stretch stays constant. A finite element method is used to validate these latter and maximal error lower than 2% is reported. The energy chain conversion is developed in detail which allows studying all the energies transferred from both the electrical input and any pre-stretch solution to the membrane during a cycle of activation. From these models, the negative stiffness spring is compared to the common solution, i.e a constant pressure or a linear positive spring, to pre-stretch a cylindrical EAP. The results show that the linear spring always removes the snap-through behaviour contrary to the constant pressure. Depending on the geometry, the monostable solution cancels also this latter and owns a better energy transfer from the power supply to the elastomer (around 50% against 40% for the linear spring) or a better stroke compared to the linear spring. Furthermore, due to the hollow in its stress characteristic, the cylindrical shaped actuator associated to a linear spring or the proposed spring allows increasing the strain. Through the different analytical models, the definition of the electrical breakdown and the analysis of the limits of the stresses, a qualitative study of the performance is given for the different pre-stretches.

Soft robots have attracted much interest recently, due to their potential capability to work effectively in unstructured environment. Soft actuators are key components in soft robots. Dielectric elastomer actuators are one class of soft actuators, which can deform in response to voltage. Dielectric elastomer actuators exhibit interesting attributes including large voltage-induced deformation and high energy density. These attributes make dielectric elastomer actuators capable of functioning as artificial muscles for soft robots. It is significant to develop untethered robots, since connecting the cables to external power sources greatly limits the robots’ functionalities, especially autonomous movements. In this paper we develop a soft untethered robot based on dielectric elastomer actuators. This robot mainly consists of a deformable robotic body and two paper-based feet. The robotic body is essentially a dielectric elastomer actuator, which can expand or shrink at voltage on or off. In addition, the two feet can achieve adhesion or detachment based on the mechanism of electroadhesion. In general, the entire robotic system can be controlled by electricity or voltage. By optimizing the mechanical design of the robot (the size and weight of electric circuits), we put all these components (such as batteries, voltage amplifiers, control circuits, etc.) onto the robotic feet, and the robot is capable of realizing autonomous movements. Experiments are conducted to study the robot’s locomotion. Finite element method is employed to interpret the deformation of dielectric elastomer actuators, and the simulations are qualitatively consistent with the experimental observations.

Micro-winkling can turn a transparent thin-film of zinc oxide (ZnO) to be ‘opaque’ that can be reversed by unfolding to restore back to the clear state. This principle was previously used to make a mechanically tunable window device. However, ZnO thin film cannot make a compliant electrode to enable electrical unfolding due to its insulator nature. This paper reports the use of multilayer thin films of 10nm silver (Ag) and 30nm thick ZnO to form a compliant electrode with electrically tunable transmittance. A dielectric elastomer actuator (DEA) with a pair of such compliant Ag/ZnO thin films on both sides of a polyacrylate elastomeric membrane (3M VHB 4910) makes an electrically tunable window device. The DEA without radial compression of the elastomer has wrinkle-free electrode. Hence, it is clear with a 47% in-line transmittance (for 550nm wavelength light). In the wrinkled form, under 10% radial compression, it becomes opaque (with less than 1% transmittance). A voltage induced areal expansion of 10% radial strain enables the electrical unfolding of the initial wrinkles. In addition, this device continues to work after 4000 cycles of unfolding and microwrinkling of Ag/ZnO. The performance of electrically tunable window device is comparable to the existing smart window technologies.

Soft grippers based on dielectric elastomer actuator (DEA) are usually too flimsy to perform the task of pick and place on a heavier object given their low payload capacity. This work developed a new design of DEA unimorph consists of a flexible frame holding at a DEA on the discrete support by a stiffer spine-like flexure of 380μm thick Polyvinyl chloride (PVC) sheet. It finds an equilibrium of curling up when the DEA's pre-stretch is partially released; it can electrically unfolds upon a voltage application. This dielectric elastomer unimorph of 3 grams produced a maximum voltage induced bending of close to 90° and a maximum voltage-induced blocked force of up to 168mN. Given their higher stiffness and large actuation, these 3-D shaped and strengthened DEA unimorphs can make stronger grippers for passive grasping and active pinching.

Common drivers of flapping wings are a motorized crank mechanisms, which convert the motor rotation into wing reciprocation. Energetic efficiency of the motorized wing flappers can be quite low due to the lack of elastic storage and high friction. This paper relook into the flapping flight apparatus of natural flyers and draw inspiration to develop flight muscles capable of elastic storage, in addition to the frictionless thoracic compliant mechanisms. We review the recent findings on the use of dielectric elastomer actuators as flight muscles. We also discuss the challenges and the prospects of using dielectric elastomer minimum energy structure to create large and fast bending/unbending, possibly for wing flapping.

In engineering, materials are chosen from databases: Engineers orient on specific parameters such as Young's modulus, yield stress or thermal expansion coefficients for a desired application. For hydrogels, the choice of materials is rather tedious since no generalized material parameters are currently available to quantify the swelling behavior. The normalization of swelling, which we present in the current work, allows an easy comparison of different hydrogel materials. Thus, for a specific application like a sensor or an actuator, an adequate material can be chosen. In the current work, we present the process of normalization and provide a course of action for the data analysis. Special challenges for hydrogels like hysteresis, conditional multi-sensitivity and anisotropic swelling are addressed. Then, the Temperature Expansion Model is shortly described and applied. Using the derived normalized swelling curves, a nonlinear expansion coefficient ß(F) is derived. The derived material behavior is used in an analytical model to predict the bending behavior of a beam made of thermo-responsive hydrogel material under an anisotropic temperature load. A bending behavior of the beam can be observed and the impact of other geometry and material parameters can be investigated. To overcome the limitations of the one-dimensional beam theory, the material behavior and geometry can be implemented in Finite Element analysis tools. Thus, novel applications for hydrogels in various fields can be envisioned, designed and tested. This can lead to a wider use of smart materials in sensor or actuator devices even by engineers without chemical background.

Pathological tremor results in undesired motion of body parts, with the greatest effect typically occurring in the hands. Since common treatment methods are ineffective in some patients or have risks associated with surgery or side effects, researchers are investigating mechanical means of tremor suppression. This work explores the viability of dielectric elastomers as the actuators in a tremor suppression control system. Dielectric elastomers have many properties similar to human muscle, making them a natural fit for integration into the human biomechanical system. This investigation develops a model of the integrated wrist-actuator system to determine actuator parameters that produce the necessary control authority without significantly affecting voluntary motion. Furthermore, this paper develops a control law for the actuator voltage to increase the effective viscous damping of the system. Simulations show excellent theoretical tremor suppression, demonstrating the potential for dielectric elastomers to suppress tremor while maximizing compatibility between the actuator and the human body.

Electroactive polymers (EAPs) refer to a broad range of relatively soft materials that change size and/or shape upon application of an electrical stimulus. Of these, dielectric elastomers (DEs) generated from either chemically- or physically-crosslinked polymer networks afford the highest levels of electroactuation strain, thereby making this class of EAPs the leading technology for artificial-muscle applications. While mechanically prestraining elastic networks remarkably enhances DEs electroactuation, external prestrain protocols severely limit both actuator performance and device implementation due to gradual DE stress relaxation and the presence of a cumbersome load frame. These drawbacks have persisted with surprisingly minimal advances in the actuation of single-component elastomers since the dawn of the “pre-strain era” introduced by Pelrine et al. (Science, 2000). In this work, we present a bottom-up, molecular-based strategy for the design of prestrain-free (freestanding) DEs derived from covalently-crosslinked bottlebrush polymers. This architecture, wherein design factors such as crosslink density, graft density and graft length can all be independently controlled, yields inherently strained polymer networks that can be readily adapted to a variety of chemistries. To validate the use of these molecularly-tunable materials as DEs, we have synthesized a series of bottlebrush silicone elastomers in as-cast shapes. Examination of these materials reveals that they undergo giant electroactuation strains (>300%) at relatively low fields (<10 V/m), thereby outperforming all commercial DEs to date and opening new opportunities in responsive soft-material technologies (e.g., robotics). The molecular design approach to controlling (electro)mechanical developed here is independent of chemistry and permits access to an unprecedented range of actuation properties from elastomeric materials with traditionally modest electroactuation performance (e.g., polydimethylsiloxane, PDMS). Experimental results obtained here compare favorably with theoretical predictions and demonstrate that the unique behavior of these materials is a direct consequence of the molecular architecture.

Shape memory polymers (SMPs) are a new type of smart material, they perform large reversible deformation with a certain external stimulus (e.g., heat and electricity). The properties (e.g., stiffness, strength and other mechanically static or quasi-static load-bearing capacity) are primarily considered for conventional resin-based composite materials which are mainly used for structural materials. By contrast, the mechanical actuating performance with finite deformation is considered for the shape memory polymers and their composites which can be used for both structural materials and functional materials. For shape memory polymers and their composites, the performance of active deformation is expected to further promote the development in smart active deformation structures, such as deployable space structures and morphing wing aircraft. The shape memory polymer composites (SMPCs) are also one type of High Strain Composite (HSC). The space deployable structures based on carbon fiber reinforced shape memory polymer composites (SMPCs) show great prospects. Considering the problems that SMPCs are difficult to meet the practical applications in space deployable structures in the recent ten years, this paper aims to research the mechanics of deformation, actuation and failure of SMPCs. In the overall view of the shape memory polymer material’s nonlinearity (nonlinearity and stress softening in the process of pre-deformation and recovery, relaxation in storage process, irreversible deformation), by the multiple verifications among theory, finite element and experiments, one obtains the deformation and actuation mechanism for the process of “pre-deformation, energy storage and actuation" and its non-fracture constraint domain. Then, the parameters of SMPCs will be optimized. Theoretical analysis is realized by the strain energy function, additionally considering the interaction strain energy between the fiber and the matrix. For the common resin-based or soft-material-based composites under pure bending deformation, we expect to uniformly explain the whole process of buckling occurrence, evolution and finally failure, especially for the early evolution characteristics of fiber microbuckling inside the microstructures. The research results are meaningful for the practical applications for SMPC deployable structures in space. Considering the deformation mechanisms of SMPCs, the local post-microbuckling is required for the unidirectional fiber reinforced composite materials, at the conditions of its large geometrical deflection. The cross section of SMPC is divided into three areas: non-buckling stretching area, non-buckling compressive area, and buckling compressive area. Three variables are considered: critical buckling position, and neutral plane, the fiber buckling half-wavelength. Considering the condition of the small strain and large displacement, the strain energy expression of the SMP/fiber system was derived, which contains two types, e.g., strain energy of SMP and fiber. According to the minimum energy principle, the expression for all key parameters were derived, including the critical buckling curvature, neutral plane position, the buckling half-wavelength, fiber buckling amplitude, and strain.

The plasticized polyvinyl chloride (PVC) gel-based soft actuator exhibits a fast response in air, large deformation, and low power consumption under an electrical field, so it shows great potential for use as a new type of soft actuator. In our previous study, we have developed a multilayered expansion and contraction-type actuator using PVC gel and stainless mesh electrodes. However, the actuator using rigid metal electrodes bring challenges of a notable weight and size, a limitation in flexibility and performance. In this study, to develop an actuator with higher performance and flexibility, we proposed a novel sheet actuator using PVC gel and flexible electrodes. We explain the driving mechanism of the proposed sheet actuator and investigate the basic characteristics of the actuators with different content of plasticizer and membrane thickness. Besides, we conducted a comparison experiment between the proposed PVC gel sheet actuator and the traditional dielectric elastomer actuator, founding that, the PVC gel sheet actuator had a positive potential to be driven at a lower DC field to get a bigger deformation and a faster response than those of the traditional dielectric elastomer actuator. And we discussed the difference between the two types of actuators with a theoretical model, finding a good agreement with the experimental results.

Film pre-stretching is a widely adopted solution to improve dielectric strength of the DEA systems. However, to date, long term reliability of this solution has not been investigated. In this work it is explored how the dielectric elastomer lifetime is affected by film pre-stretching. The dielectric loss of soft polydimethylsiloxane (PDMS) films is studied for different stretch ratios by measuring tanδ. Additionally, time-to-breakdown was measured at DC electric stress for different stretch ratios. For this purpose, accelerated life test (ALT) were performed. The results obtained are compared with non-pre-stretched samples. This study suggests that no additional dielectric losses are caused by film stretching up to 80% of original dimensions.

Soft actuators based on polymers are expected to be used for power sources to drive wearable robots which required in a wide range of fields such as medical, care and welfare, because they are light weight, flexible and quiet. Plasticized PVC gel which has a large deformation by applying a voltage and high driving stability in the atmosphere is considered as a suitable candidate material for development of soft actuator. Then, we proposed two kinds of novel flexible actuators constructed like yarn and textile by using plasticized PVC gel to develop soft actuator to realize a higher flexibility and low-voltage driving. In this study, we prepared prototypes of these actuators and clarify their characteristic. In addition, we considered the deformation model from its characteristics and geometric calculation. When a voltage was applied to their actuators, textile type actuator was contracted, while the twisted yarn type actuator was expanded. The deformation behavior of the proposed actuators could be found at a low voltage of 200V, the contraction strain of the textile actuator was about 27 %, and the expanding ratio of the yarn actuator was 0.4 %. Maximum contraction strain of textile actuator and expansion ratio of yarn actuator was 53% and 1.4% at 600 V, respectively. The calculation results from the proposed model were in roughly agreement with the experimental values. It indicated that deformation behavior of these actuators could estimate from models.

Silicone elastomers have been heavily investigated as candidates for dielectric elastomers and are as such almost ideal candidates with their inherent softness and compliance but they suffer from low dielectric permittivity. This shortcoming has been sought optimized by many means during recent years. However, optimization with respect to the dielectric permittivity solely may lead to other problematic phenomena such as premature electrical breakdown. In this work, we investigate the electrical breakdown phenomena of various types of permittivity-enhanced silicone elastomers. Two types of silicone elastomers are investigated and different types of breakdown are discussed. Furthermore the use of voltage stabilizers in silicone-based dielectric elastomers is investigated and discussed.

Dielectric elastomer (DE) is capable of giant deformation subject to an electric field, and demonstrates significant advantages in the potentially application of soft machines with muscle-like characteristics. Due to an inherent property of all macromolecular materials, DE exhibits strong viscoelastic properties. Viscoelasticity could cause a time-dependent deformation and lower the response speed and energy conversion efficiency of DE based actuators, thus strongly affect its electromechanical performance and applications. Combining with the rheological model of viscoelastic relaxation, the viscoelastic performance of a VHB membrane in a circular actuator configuration undergoing separately constant, ramp and sinusoidal voltages are analyzed both theoretically and experimentally. The theoretical results indicated that DE could attain a big deformation under a small constant voltage with a longer time or under a big voltage with a shorter time. The model also showed that a higher critical stretch could be achieved by applying ramping voltage with a lower rate and the stretch magnitude under sinusoidal voltage is much larger at a relatively low frequency. Finally, experiments were designed to validate the simulation and show well consistent with the simulation results.

Dielectric Elastomer (DE) transducers are well known for the possibility of responding to an applied voltage with relatively large actuation strains, often larger than 100%, and for their relatively high actuation bandwidth (order of several kHz). However, up to date there are relatively few applications which use the dynamic behavior of DEs. Some relevant examples include loudspeakers and fluid dispensers. Motivated by the potentialities of DEs in high-frequency applications, the aim of this work is the investigation of the continuous vibrations observed when DE membranes are actuated electrically. The system under analysis consists of a circular DE membrane pre-loaded with a spring. While exciting the DE membrane actuator with high-voltage, high-frequency signals, the motion of the membrane is detected with a 3D laser vibrometer which uses Doppler effect to reconstruct the system spectrum and vibration modes. An extensive experimental investigation is performed to study the influence of system parameters, such as membrane geometry and pre-stress, on the membrane frequency spectrum and vibrational modes.

Electrical breakdown of dielectric elastomer actuators (DEAs) is an issue that has to be carefully addressed when designing systems based on this novel technology. Indeed, in some systems electrical breakdown might have serious consequences, not only in terms of interruption of the desired function but also in terms of safety of the overall system (e.g. overheating and even burning). The risk for electrical breakdown often cannot be completely avoided by simply reducing the driving voltages, either because completely safe voltages might not generate sufficient actuation or because internal or external factors might change some properties of the actuator whilst in operation (for example the aging or fatigue of the material, or an externally imposed deformation decreasing the distance between the compliant electrodes). So, there is the clear need for reliable, simple and cost-effective detection systems that are able to acknowledge the occurrence of a breakdown event, making DEA-based devices able to monitor their status and become safer and “selfaware”. Here a simple solution for a portable detection system is reported that is based on a voltage-divider configuration that detects the voltage drop at the DEA terminals and assesses the occurrence of breakdown via a microcontroller (Beaglebone Black single-board computer) combined with a real-time, ultra-low-latency processing unit (Bela cape an open-source embedded platform developed at Queen Mary University of London). The system was used to both generate the control signal that drives the actuator and constantly monitor the functionality of the actuator, detecting any breakdown event and discontinuing the supplied voltage accordingly, so as to obtain a safer controlled actuation. This paper presents preliminary tests of the detection system in different scenarios in order to assess its reliability.

Harvesting human kinetic energy to produce electricity is an attractive alternative to batteries for applications in wearable electronic devices and smart textile. Dielectric elastomers generators (DEGs) represent one of the most promising technologies for these applications. Nevertheless, one of the main disadvantages of these structures is the need of an external polarization source to perform the energetic cycle. In the present work, a hybrid electret-dielectric elastomer generator in DEG mode is presented. In this configuration, the electret material is used as polarization source of a classical DEG, i.e. an electrostatic generator based on electrical capacitance variation. The electrical energy output in this mode (1.06mJ.g⁻¹) could be higher than the one obtained using a classical electret mode (0.55mJ.g⁻¹), i.e. charges recombination. In this paper, the operation principle of the hybrid generator will be fully described and the design rules for the realization of the prototype will be presented. The experimental data obtained from the prototype will be compared to the results of FEM simulations.

This paper presents a novel wearable tactile haptic display for rendering soft body sensations to multiple fingertips with electroactive smart elastomers. The system uses newly developed multi-layered hydrostatically coupled dielectric elastomer actuators (DEAs), which have been designed to apply a localised tunable force to a user’s fingertip via a soft electrically-deformable interface. The system is comprised of DEAs which are fingertip mounted and are driven individually by a wired connection to a control unit. The force applied to the user’s fingertip is based on the user’s fingertip position which is monitored by an optical three dimensional finger tracking system. This novel tactile display system is conceived to convey soft body interactions within virtual environments. To demonstrate this, a simulator capable of demonstrating virtual objects of varying tactile haptic properties has been developed. This paper presents preliminary results of ongoing testing, as well as data pertaining to the characterization of the device in terms of force response. The paper also outlines the current limitations of the proposed technology and challenges to be addressed for further developments.

Dielectric Elastomer Generators (DEGs) are very promising systems that are able to directly convert oscillating mechanical energy into direct electricity. Their nature and main attributes make them particularly interesting for harvesting energy form ocean waves. In this context, several efforts have been made in the last years to develop effective Wave Energy Converters based on DEG [1-4]. In this contribution, we present a novel Wave Energy Converter (WEC) based on the Oscillating Water Column principle. The device features an inflatable DEG as Power Take Off (PTO) system and collector - i.e. the part of the device that is directly interacting with waves – that possesses a coaxial-ducted shape as described in [5]. Models of the coupled behavior that consider the electro-hyperelastic response of the DEG and the hydrodynamics are presented. It is shown that the dynamic response and the effectiveness of the system can be largely improved through an appropriate dimensioning of the geometry of the device. Specifically, the dynamic response of the system can be designed to match the corresponding harmonic content of water waves achieving an effective conversion of the incoming mechanical energy. A small/intermediate scale prototype of the system is built and tested in a wave tank facility - i.e. a basin in which artificially controlled waves can be generated - available at Flowave (UK). Mathematical models are validated against experimental results for monochromatic and panchromatic tests. During the experiments, we obtained peak of estimated power output in the range of 1 W to 4 W with an energy density for the dielectric material of approximately 80-120W/kg. The achieved results represent a milestone in the study of WEC based on DEG, paving the path toward scaling up of this technology.

Tactile feedback devices and microfluidic devices have huge significance in strengthening the area of robotics, human machine interaction and low cost healthcare. Dielectric Elastomer Actuators (DEAs) are an attractive alternative for both the areas; offering the advantage of low cost and simplistic fabrication in addition to the high actuation strains. The inplane deformations produced by the DEAs can be used to produce out-of-plane deformations by what is known as the thickness mode actuation of DEAs. The thickness mode actuation is achieved by adhering a soft passive layer to the DEA. This enables a wide area of applications in tactile applications without the need of complex systems and multiple actuators.

But the thickness mode actuation has not been explored enough to understand how the deformations can be improved without altering the material properties; which is often accompanied with increased cost and a trade off with other closely associated material properties. We have shown the effect of dimensions of active region and non-active region in manipulating the out-of-plane deformation. Making use of this, we have been able to demonstrate large area devices and complex patterns on the passive top layer for the surface texture change on-demand applications. We have also been able to demonstrate on-demand microfluidic channels and micro-chambers without the need of actually fabricating the channels; which is a cost incurring and cumbersome process.

Electromechanically coupled dielectric elastomer actuators (DEAs) and dielectric elastomer switches (DESs) may form digital logic circuitry made entirely of soft and flexible materials. The expansion in planar area of a DEA exerts force across a DES, which is a soft electrode with strain-dependent resistivity. When compressed, the DES drops steeply in resistance and changes state from non-conducting to conducting. Logic operators may be achieved with different arrangements of interacting DE actuators and switches. We demonstrate combinatorial logic elements, including the fundamental Boolean logic gates, as well as sequential logic elements, including latches and flip-flops. With both data storage and signal processing abilities, the necessary calculating components of a soft computer are available. A noteworthy advantage of a soft computer with mechanosensitive DESs is the potential for responding to environmental strains while locally processing information and generating a reaction, like a muscle reflex.

Ionic electroactive polymer (IEAP) actuators with carbon based porous electrodes and ionic liquid electrolyte are attractive alternatives compared to the actuators composed of noble metal electrodes. Besides of numerous other parameters, the porosity of the electrode matrix has high influence on the electrochemical behavior and mechanical response of these actuators. Porosity has direct influence on the tortuosity, electronic conductivity, ionic conductivity, ion diffusivity, mobility, as well as the specific area and specific capacitance of electrode. It can also influence directly the mechanical properties of the IEAP laminate: durability, stiffness, etc. In this study, a detailed physical model that incorporates porosity of electrodes and its relation to the electrochemical, transport and mechanical behavior of the IEAP actuator is developed. The behavior of the actuator under different porosity values is investigated through finite elements simulation. The outputs of the simulation are cation concentration, current consumed and deformation of the actuator etc. Altering porosity and determining its optimum value help to comprehend the occurring physical and electrochemical processes, as well as to design actuators capable of delivering optimum electrical and mechanical response.

We present a stackable configuration of loudspeaker-type artificial muscle module. These modules are antagonisticallycoupled to enhance the delivery of blocking force and speed of deformation. We analyze a cycle of antagonisticallycouple configuration by theory, and maximize the cycle of the antagonistically-coupled loudspeaker configuration using a semi-empirical method. We realize an output force of about 4N for a single layer, and up to 15N for three stacked layers. The corresponding displacement at maximum actuation is about 10mm. We further introduce a control circuit to enhance output mechanical power of the cycle. This work serves to rationalize the analysis, design and construction of soft actuator systems capable of delivering high mechanical power output within a small space.

The novel linear actuator is researched with light weight, small volume, low power consumption, fast response and relatively large displacement output. It can be used for the net surface control of large deployable mesh antennas, the tension precise adjustment of the controlled cable in the tension and tensile truss structure and many other applications. The structure and the geometry parameters are designed and analysed by finite element method in multi-physics coupling. Meantime, the relationship between input voltage and displacement output is computed, and the strength check is completed according to the stress distribution. Carbon fiber reinforced composite (CFRC), glass fiber reinforced composited (GFRC), and Lead Zirconium Titanate (PZT) materials are used to fabricate the actuator by using laser etching and others MEMS process. The displacement output is measured by the laser displacement sensor device at the input voltage range of DC0-180V. The response time is obtained by oscilloscope at the arbitrarily voltage in the above range. The nominal force output is measured by the PTR-1101 mechanics setup. Finally, the computed and test results are compared and analysed.

In order to diminish the effect of terminals to the aqueous ionic electroactive polymer (IEAP) actuators, the electrical input terminals should be made of a noble metal – platinum or gold. In any case, they should not be made of copper. As a matter of fact, copper is electrochemically not stable enough, even at very low voltages. As soon as a voltage is applied between the terminals, the ions of copper formed in the process of oxydation migrate very fast into the IEAP. The bending of IEAP actuators is caused by the movement of cations in the applied electric field. In the region of electrical terminals the infiltrated cations of copper will participate in this process and give additional effect. With the help of a showy experiment we compare the bending of a water-swollen ionic polymer membrane using terminals made of copper and made of gold. The experiment demonstrates impressively, that the copper ions originated from the copper contacts cause bending close to the terminals, and alter the composition of the membrane between the terminals.

Electropolymerization of pyrrole is commonly employed to fabricate intrinsically conductive polymer films that exhibit desirable electromechanical properties. Due to their monolithic nature, electroactive polypyrrole films produced via this process are typically limited to simple linear or bending actuation modes, which has hindered their application in complex actuation tasks. This initiative aims to develop the specialized fabrication methods and polymer formulations required to realize three-dimensional conductive polymer structures capable of more elaborate actuation modes.

Our group has previously reported the application of the digital light processing additive manufacturing process for the fabrication of three-dimensional conductive polymer structures using ultraviolet radiation. In this investigation, we further expand upon this initial work and present an improved polymer formulation designed for digital light processing additive manufacturing using visible light. This technology enables the design of novel electroactive polymer sensors and actuators with enhanced capabilities and brings us one step closer to realizing more advanced electroactive polymer enabled devices.

The intractable nature of the conjugated polymer (CP) polyaniline (PANI) has largely limited PANI-based transducers to monolithic geometries derived from thin-film deposition techniques. To address this limitation, we have previously reported additive manufacturing processes for the direct ink writing of three-dimensional electroactive PANI structures. This technology incorporates a modified delta robot having an integrated polymer paste extrusion system in conjunction with a counter-ion induced thermal doping process to achieve these 3D structures. In this study, we employ an improved embodiment of this methodology for the fabrication of functional PANI devices with increasingly complex geometries and enhanced electroactive functionality. Advances in manufacturing capabilities achieved through the integration of a precision pneumatic fluid dispenser and redesigned high-pressure end-effector enable extrusion of viscous polymer formulations, improving the realizable resolutions of features and deposition layers. The integration of a multi-material dual-extrusion end-effector has further aided the fabrication of these devices, enabling the concurrent assembly of passive and active structures, which reduces the limitations on device geometry. Subsequent characterization of these devices elucidates the relationships between polymer formulation, process parameters, and device design such that electromechanical properties can be tuned according to application requirements. This methodology ultimately leads to the improved manufacturing of electroactive polymer-enabled devices with high-resolution 3D features and enhanced electroactive performance.

Transducers made of dielectric elastomers (DE) offer versatile opportunities for many different applications. To gain large strains and forces a multilayer topology is commonly used. DE stack-transducers represent one multilayer topology and can be operated as a sensor, a generator or an actuator simultaneously. They are made of many layers of DE films, like silicone (PDMS) and polyurethane (PUR), stacked on top of each other. The single layers are several micrometers thin and coated with a compliant electrode on both sides. Depending on the application a DE transducer has to withstand tensile forces, which may lead to a delamination of the layers and a ripping of the stack-transducer. This can be prevented by enhancing the adhesion among the layers. Within this contribution a surface plasma jet treatment with an atmospheric plasma beam as well as an adhesive utilized as electrode material was investigated to obtain an adhesion enhancement. The effects of these methods to enhance the adhesion are introduced briefly. Furthermore, various investigations were made to determine the benefits of the enhancement methods with respect to the electromechanical properties of the electrode. Therefore, certain tests regarding the surface resistance of the electrode and the dielectric breakdown strength (DBS) of the DE film were conducted. The tests indicate that the influences are strongly dependent on the composition of the electrode and the used DE material. Finally, improvements for a dry deposition roll-to-sheet manufacturing process for DE stack-transducers are derived from the obtained results.

Established fabrication methods for dielectric elastomer stack transducers (DEST) are mostly based on twodimensional thin-film technology. Because of this, DEST are based on simple two-dimensionally structured shapes. For certain applications, like valves or Braille displays, these structures are suited well enough. However, a more flexible fabrication method allows for more complex actuator designs, which would otherwise require extra processing steps. Fabrication methods with the possibility of three-dimensional structuring allow e.g. the integration of electrical connections, cavities, channels, sensor and other structural elements during the fabrication. This opens up new applications, as well as the opportunity for faster prototype production of individually designed DEST for a given application. In this work, a manufacturing system allowing three dimensional structuring is described. It enables the production of multilayer and three-dimensional structured DEST by liquid deposition modelling. The system is based on a custom made dual extruder, connected to a commercial threeaxis positioning system. It allows a computer controlled liquid deposition of two materials. After tuning the manufacturing parameters the production of thin layers with at thickness of less than 50 μm, as well as stacking electrode and dielectric materials is feasible. With this setup a first DEST with dielectric layer thickness less than 50 μm is build successfully and its performance is evaluated.

Ionic-polymer metal composites (IPMCs) are a subset of ionic electroactive polymers (EAPs). They produce an actuation response based on the electrically induced flux of mobile ions through a parent-polymer matrix. This response is a result of the accumulation of cations and anions on opposing sides of the matrix and is directly related to the size disparity between the two types of ions. These factors impose a differential expansion across the matrix, which generates the macroscopic bending that is observed. It is well known that the motion of these EAPs is highly nonlinear and time dependent, making for a process that is difficult to model. A simplistic approach to modeling the physics behind this phenomenon and correlating that to experimental results is outlined, herein. This new methodology enables a comprehensive analysis of the boundary conditions (BCs) needed to be considered in order to accurately characterize the IPMC actuation response. The subsequent series of equations developed, which depict the ionic motion under these BCs, is presented. Empirical data for model analysis was acquired from IPMCs created using poly(ethylene oxide) (PEO), a well-known, biodegradable, solid-polymer electrolyte infused with lithium perchlorate, as the ionic salt. Experimental results fitted with this new model returned a favorable average adjusted-R², goodness-of-fit, of 0.987, 0.994, and 0.992 when PEO films were tested under varying conditions, including: ionic concentration, applied voltage, and testing temperature, respectively.

Ionic polymer-metal composites (IPMCs) generate electrical potential under deformation and can be used as sensors. Recently, Zhu et al. have proposed a sensor model which describes distribution of cations, water molecules and electrical potential under bending deformation. In this paper, we discuss a simplification of the multi-physical sensor model, which is represented by a set of nonlinear partial differential equations. The nonlinear partial differential equations are simplified and approximated into a set of linear ordinary differential equations, i.e., a state-space equation model. At the end, the simplified model is validated by comparing the simulation results with those of the partial differential equation model.

An ionic polymer-metal composite (IPMC) actuator is one of polymer-based soft actuators. It is produced by chemically plating gold or platinum on both surface of a perfluorosulfonic acid membrane which is known as an ion-exchange membrane. It is able to be activated by a simple driving circuit and generate a large deformation under a low applied voltage (0.5-3 V). However, individual difference and characteristics changes from environmental conditions should be considered for realizing a stable or precise control. To solve these problems, we applied a stochastic ON/OFF controller to an integrated IPMC actuator with parallel connections. The controller consists of a central controller and distributed controllers. The central controller broadcasts a control signal such as an error signal to distributed controllers uniformly. The distributed controllers switch the ON/OFF states based on the broadcasted signal stochastically. The central controller dose not measure the states of each IPMC actuator, and the control signals is calculated by using the output signal of the integrated actuator and reference signal. The validity of the applied method was investigated through numerical simulations and experiments.

Recently, artificial muscles made of fishing lines or sewing threads, namely twisted and coiled polymer actuators (TCPAs), have been proposed by Haines et al. A TCPA contracts by applying heat and returns to its initial length by cooling. A TCPA can be driven by voltage if the TCPA is plated by metal or if conductive wire such as nichrome is wound around it. Compared with the conventional electroactive polymers, advantages of TCPAs are low cost, simple structure, large actuation strain, and large force. However, a big disadvantage of TCPAs is slow response due to heat transfer. The problem becomes apparent during cooling, although the response of heating can be improved by feedback control. This paper proposes a control method of switching heating and cooling. In the proposed method, a TCPA is cooled by an electric cooling fan. When the TCPA is heating, the cooling fan is stopped. In a previous report, the response speed can be improved by keeping cooling fan always on; however, unnecessary energy consumption is required even during heating. In the proposed method, energy consumption during heating does not increase and the response speed can be improved using fan only during cooling. The proposed control law is as follows. Firstly, the desired control input is determined by PI-D control with respect to the length of the actuator. Then, the control inputs to the heater and to the cooling fan are switched according to the sign of the PI-D controller output. The effectiveness of the proposed control method is demonstrated by comparing the cases with and without the cooling fan in the experiments.

The inherent elasticity of dielectric elastomer actuators (DEAs) gives this technology great potential in energy efficient locomotion applications. In this work, a modular double cone DEA is developed with reduced manufacturing and maintenance time costs. This actuator can lift 45 g of mass (5 times its own weight) while producing a stroke of 10.4 mm (23.6% its height). The contribution of the elastic energy stored in antagonistic DEA membranes to the mechanical work output is experimentally investigated by adding delay into the DEA driving voltage. Increasing the delay time in actuation voltage and hence reducing the duty cycle is found to increase the amount of elastic energy being recovered but an upper limit is also noticed. The DEA is then applied to a three-segment leg that is able to move up and down by 17.9 mm (9% its initial height), which demonstrates the feasibility of utilizing this DEA design in legged locomotion.

This paper discusses energy harvesting and its application using dielectric elastomer and self-priming circuit. With the self-priming circuit attached to the dielectric elastomer, the generated voltage increases exponentially according to the variation of the capacitance caused by applied deformation to the elastomer. Two-stage self-priming circuit is selected for optimal harvesting. The self-priming harvesting technique is able to increase the voltage of the dielectric elastomer from a few volts to kV order, however in this paper the generated voltage is limited up to 1kV in order to avoid the destruction of the dielectric elastomer. The ability of energy harvesting using dielectric elastomer and self-priming circuit is confirmed by both numerical simulation and experiments. In the experiment, the dielectric elastomer is deformed by an electric motor, and the harvested energy is stored to a charging capacitor through Zener diodes. A low-power microcomputer which has a radio transmitter is connected to the charging capacitor for the application example. The experimental results show that the temperature data can be transmitted only by the harvested energy. In addition, the efficiency of the energy harvesting is calculated by comparing the generated power with the charged power.

Based on a previously developed microperistaltic pump, a micromixer made out of dielectric elastomer stack actuators (DESA) is proposed. The micromixer will be able to mix two fluids at the microscale, pumping both fluids in and out of the device. The device consists of three chambers. In the first and second chambers, fluids A and B are hosted, while in the third chamber, fluids A and B are mixed. The fluid flow regime is laminar. The application of voltage leads to an increase of the size of a gap in the z-axis direction, due to the actuators area expansion. This makes a channel open through which the fluid flows. The frequency of the actuation of the different actuators allows an increase of the flow rate. The micromixer can be used for applications such as drug delivery and synthesis of nucleic acids, the proposed device will be made of Polydimethylsiloxane (PDMS) as dielectric and graphite powder as electrode material. PDMS is a biocompatible material, widely used in the prosthesis field. Mixing fluids at a microscale is also in need in the lab-on-achip technology for complex chemical reactions.

One of the issues in operating the IPMC actuators in air condition is the limited lifetime due to the evaporation of aqueous electrolytes like water. Several attempts were already made for solving the problem using an ionic liquid (IL) with higher boiling point. In this study, three different ILs having similar boiling point but different molecular weight were employed in the IPMC actuators. The actuation performance, notably speed and lifetime, were measured and they are compared with that of water-based IPMC actuator. The lower molecular weight IL showed a comparable actuation speed of water due to faster movement of the ion cluster. The lifetime of the water-based IPMC actuator was found to be only 3 hr. However, the IL-based IPMC actuators showed much improved service life.

High temperature applications of materials have been increasing for various industrial applications, such as automobile brakes, clutches and thrust pads. The big portion of these materials are made out of the polymeric materials with various reinforcements. In the present study, high temperature polymeric materials were incorporated with SiC whiskers and chopped carbon fibers at 0, 5, 10 and 20wt.% and molded into desired size and shape prior to the curing process. These inclusions were selected because of their high mechanical strengths and thermal conductivity values to easily dissipate the frictional heat energy and sustain more external loads. The method of testing involves a metal ramp with an adjustable incline to find the coefficients of static and kinetic frictions by recording time and the angle of movement at various temperatures (e.g., -10°C and 50°C). The test results indicated that increasing the inclusions made drastic improvements on the coefficients of static and kinetic frictions. The undergraduate students were involved in the project and observed all the details of the process during the laboratory studies, as well as data collection, analysis and presentation. This study will be useful for the future trainings of the undergraduate engineering students on the composite, automobile and other manufacturing industries.

Fiber reinforcement increases many properties of the concretes, such as toughness, strength, abrasion, and resistance to corrosion. Use of recycled carbon fibers from industrial waste offers many advantages because it will reduce the waste, contribute the economy, protect natural resources and improve the property of structural units. The City of Wichita, KS is known to be “Air Capital of the World” where many aircraft companies have been producing aircraft, parts and components. Due to the superior properties of composites (e.g., light weight, low density, high impact resistance), they have been highly used by aircraft industry. Prepreg is the most preferred combination of the fiber and resin due to the easy application, but it has a limited shelf life (e.g., three months to one year at most) and scrap has no use after all in the same industry. Every year tons of un-used prepreg or after use scrap are being collected in Wichita, KS. Recycling prepreg from the post-consumer waste offers great advantages of waste reduction and resource conservation in the city. Reusing the carbon fibers obtained from outdated prepreg composites for concrete reinforcement will offer double advantages for our environment and concrete structures. In this study, recycled carbon fibers of the outdated prepreg composites were collected, and then incorporated with concretes at different ratios prior to the molding and mechanical testing. An undergraduate student was involved in the project and observed all the process during the laboratory studies, as well as data collection, analysis and presentation. We believe that experience based learning will enhance the students’ skills and interest into the scientific and engineering studies.