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Biomimetics
Volume 10
Issue 3
10.3390/biomimetics10030152
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Review

Review of Electrohydraulic Actuators Inspired by the HASEL Actuator

by
Levi Tynan
1,
Upul Gunawardana
1,
Ranjith Liyanapathirana
1,
Osura Perera
1,
Daniele Esposito
2,
Jessica Centracchio
3 and
Gaetano Gargiulo
1,*
1
School of Engineering, Design and Built Environment, Western Sydney University, Kingswood, NSW 2747, Australia
2
Department of Information and Electrical Engineering and Applied Mathematics, University of Salerno, Via Giovanni Paolo II, 132, 84084 Fisciano, Italy
3
Department of Electrical Engineering and Information Technologies, University of Naples Federico II, Via Claudio 21, 80125 Napoli, Italy
*
Author to whom correspondence should be addressed.
Biomimetics 2025, 10(3), 152; https://doi.org/10.3390/biomimetics10030152
Submission received: 31 January 2025 / Revised: 21 February 2025 / Accepted: 24 February 2025 / Published: 2 March 2025
(This article belongs to the Special Issue Sustainable Soft Robotics: Innovations and Advances in Soft Manipulators and Grippers)
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Abstract

The muscle-like movement and speed of the electrohydraulic actuator have granted it much attention in soft robotics. Our aim is to review the advancements in electrohydraulic actuators inspired by the Hydraulically Amplified Self-healing Electrostatic (HASEL) actuator. With this paper, we focus on the performance of 21 electrohydraulic actuator designs developed across five Universities, ranging from the earliest HASEL designs to the latest electrohydraulic designs. These actuators reported up to 60 N forces and contracting strains of up to 99%. The actuators with the best overall performance so far have been the Quadrant HASEL actuator and the HEXEL actuator, developed at the University of Colorado Boulder. However, notable is also the HALVE actuator (produced by ETH Zürich, Switzerland), which, by using a 5 µm PVDF-TrFE-CTFE film with a relative permittivity of 40, produced 100 times the electrostatic force of any of the electrohydraulic actuators under review. The latter shows that there is room for improvement as low force and displacement still limit the viability of the soft actuators in real-life applications.
Keywords: soft robotics; electrohydraulic actuators; HASEL actuator; fluidic actuator; DEA; HAXEL actuator soft robotics; electrohydraulic actuators; HASEL actuator; fluidic actuator; DEA; HAXEL actuator

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MDPI and ACS Style

Tynan, L.; Gunawardana, U.; Liyanapathirana, R.; Perera, O.; Esposito, D.; Centracchio, J.; Gargiulo, G. Review of Electrohydraulic Actuators Inspired by the HASEL Actuator. Biomimetics 2025, 10, 152. https://doi.org/10.3390/biomimetics10030152

AMA Style

Tynan L, Gunawardana U, Liyanapathirana R, Perera O, Esposito D, Centracchio J, Gargiulo G. Review of Electrohydraulic Actuators Inspired by the HASEL Actuator. Biomimetics. 2025; 10(3):152. https://doi.org/10.3390/biomimetics10030152

Chicago/Turabian Style

Tynan, Levi, Upul Gunawardana, Ranjith Liyanapathirana, Osura Perera, Daniele Esposito, Jessica Centracchio, and Gaetano Gargiulo. 2025. "Review of Electrohydraulic Actuators Inspired by the HASEL Actuator" Biomimetics 10, no. 3: 152. https://doi.org/10.3390/biomimetics10030152

APA Style

Tynan, L., Gunawardana, U., Liyanapathirana, R., Perera, O., Esposito, D., Centracchio, J., & Gargiulo, G. (2025). Review of Electrohydraulic Actuators Inspired by the HASEL Actuator. Biomimetics, 10(3), 152. https://doi.org/10.3390/biomimetics10030152

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