Rapid prototyping zipping HASEL actuators for high-speed and versatile artificial muscles (Conference Presentation)

Shane K. Mitchell; Xingrui Wang; Eric Acome; Trent Martin; Khoi Ly; Nicholas Kellaris; Christoph Keplinger

doi:10.1117/12.2514325

29 March 2019 Rapid prototyping zipping HASEL actuators for high-speed and versatile artificial muscles (Conference Presentation)

Shane K. Mitchell, Xingrui Wang, Eric Acome, Trent Martin, Khoi Ly, Nicholas Kellaris, Christoph Keplinger

Author Affiliations +

Proceedings Volume 10966, Electroactive Polymer Actuators and Devices (EAPAD) XXI; 1096609 (2019) https://doi.org/10.1117/12.2514325
Event: SPIE Smart Structures + Nondestructive Evaluation, 2019, Denver, Colorado, United States

Abstract

Recently developed hydraulically amplified self-healing electrostatic (HASEL) actuators can utilize diverse material systems to create high-performance, muscle-mimetic actuators that can be tailored to specific applications. Initial versions of HASEL required cumbersome high voltage driving electronics and utilized a manual fabrication technique which was not easily adjusted to iterate designs. This presentation will describe a versatile and accessible fabrication technique using a computer numerically controlled (CNC) heat sealing machine to rapidly prototype complex designs of HASEL actuators. With this simple fabrication technique, we can create high performance HASELs which offer a variety of actuation modes. These actuators harness electrostatic zipping mechanisms to reduce operating voltages and facilitate a smooth actuation response to input voltage. Moreover, these HASELs feature linear strains over 100%, specific power of 816 W/kg, and cut-off frequencies of 125 Hz; these metrics enable actuators which are fast and powerful enough to jump. Using these devices, we create a continuum actuator capable of three-dimensional articulation and an active surface with programmable morphology. Additionally, we develop a portable electronics package for untethered operation of these soft robotic devices. This presentation will highlight the diverse design freedom inherent to HASEL actuators in terms of material selection and actuator design.

Conference Presentation

Citation Download Citation

Shane K. Mitchell, Xingrui Wang, Eric Acome, Trent Martin, Khoi Ly, Nicholas Kellaris, and Christoph Keplinger "Rapid prototyping zipping HASEL actuators for high-speed and versatile artificial muscles (Conference Presentation)", Proc. SPIE 10966, Electroactive Polymer Actuators and Devices (EAPAD) XXI, 1096609 (29 March 2019); https://doi.org/10.1117/12.2514325

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KEYWORDS

Actuators

Artificial muscles

Rapid manufacturing

Fabrication

Electronics

Prototyping

Robotics

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