15 April 2016 Development of soft robots using dielectric elastomer actuators
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Abstract
Soft robots are gaining in popularity due to their unique attributes such as low weight, compliance, flexibility and diverse range in motion types. This paper illustrates soft robots and actuators which are developed using dielectric elastomer. These developments include a jellyfish robot, a worm like robot and artificial muscle actuators for jaw movement in a robotic skull. The jellyfish robot which employs a bulged dielectric elastomer membrane has been demonstrated too generate thrust and buoyant forces and can move effectively in water. The artificial muscle for jaw movement employs a pure shear configuration and has been shown to closely mimic the jaw motion while chewing or singing a song. Thee inchworm robot, powered by dielectric elastomer actuator can demonstrate stable movement in one-direction.
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Hareesh Godaba, Hareesh Godaba, Yuzhe Wang, Yuzhe Wang, Jiawei Cao, Jiawei Cao, Jian Zhu, Jian Zhu, "Development of soft robots using dielectric elastomer actuators", Proc. SPIE 9798, Electroactive Polymer Actuators and Devices (EAPAD) 2016, 97981T (15 April 2016); doi: 10.1117/12.2218852; https://doi.org/10.1117/12.2218852
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