Search Results (144)

Aiming to develop high-performance flexible electrode materials for dielectric elastomer actuation systems applied to micro-crawling robots, this study proposes multi-dimensional filler composite electrode materials with a methyl vinyl silicone rubber matrix. Three types of conductive fillers—namely, zero-dimensional super-conductive carbon black, one-dimensional single-walled carbon nanotubes, and two-dimensional flaky micron-sized silver powder—were employed to construct a hierarchical multi-dimensional conductive network within the silicone rubber matrix via a three-stage fabrication strategy. The electrical conductivity and conductive stability of the as-prepared composite electrode materials were systematically investigated, where the intrinsic mechanisms and evolutionary laws of material electrical performance variations were analyzed. Furthermore, the effects of fillers with different dimensional morphologies on the comprehensive properties of the composites at each fabrication stage were explored, and the optimal filler dosage for each component was determined. Microstructural observations of the staged conductive network formation further verified the rationality of the stage-based functional design model. The optimized composite electrode delivers an initial electrical conductivity of 1.5 × 10⁴ S/m, with only a 14.9% conductivity attenuation under 50% tensile strain, demonstrating excellent electromechanical stability. Moreover, a prototype micro-crawling robot was fabricated using the optimized composite electrode, achieving a maximum linear crawling speed of 8 mm/s. These experimental results validate the feasibility and superiority of the proposed multi-dimensional filler composite strategy. This work provides a novel technical approach for the design and development of high-performance flexible electrode materials for flexible electronic and micro-robotic actuation applications. Full article

Artificial muscles are an emerging class of actuators designed to mimic the compliant, efficient, and versatile behavior of biological muscles for fields including the following: soft robotics, prosthetics, wearable enhancements, haptic interfaces, and biomedical devices. These systems encompass various actuation mechanisms, including pneumatic, hydraulic, thermal, ionic, electrochemical, and electrostatic. Each with distinct tradeoffs in voltage, strain, output force, bandwidth, efficiency, and manufacturability. Among them, electrostatic actuators have attracted increased attention due to their fast response times, high energy densities, strong compatibility with soft materials, and scalability from microscale devices to large-area and stacked actuators. However, challenges such as dielectric breakdown, material fatigue, and fabrication complexity continue to limit widespread deployment. This review presents a structured classification of various artificial muscle technologies and an in-depth examination of electrostatic actuators including dielectric elastomers, electrostrictive and ferroelectric polymers, liquid crystal elastomers, electrostatic film motors, stacked architectures, and microscale/milliscale devices. In this review the operating principles, materials, architectures, performance characteristics, and failure modes of electrostatic actuators will be discussed. Additionally, a comparison will highlight tradeoffs across actuator families based on metrics such as voltage, force, strain, bandwidth, and manufacturability. Lastly, we outline future research directions in materials, physics-informed modeling, system integration, and scalable fabrication necessary to advance electrostatic artificial muscles toward practical, real-world deployment. Full article

Due to the strong nonlinearity and large deformation characteristics of dielectric elastomer actuators (DEAs), the dynamic performance design of their actuators faces the challenge of complex multi-parameter coupling. This paper establishes a unified parameterized dynamic equation based on analytical mechanics, focusing on the influence of electric field, excitation frequency, driving waveform, material properties, geometric dimensions, and pre-stretch ratio on their dynamic performance indicators. The study finds that the pre-stretch ratio, by changing the system’s potential energy and stiffness, not only directly affects the system’s dynamic performance. More importantly, throughout a complete driving voltage waveform cycle, the DEA exhibits alternating compression and expansion—a phenomenon rarely reported in existing studies. Accordingly, this study defines two new performance indicators: maximum stretch ratio (characterizing expansion) and minimum stretch ratio (characterizing compression). Based on this, the paper proposes a visualization design method using radar charts. By normalizing the performance indicators and plotting performance indicator radar charts, the interaction of various parameters can be intuitively presented, providing a new approach for the customized dynamic design of DEAs. Full article

The dielectric elastomer is a category of electroactive polymer capable of having large deformation under electric excitation and vice versa. They show great potential for the proper maneuvering of small-scale aerial vehicles due to low density and fast actuation, and the successful design demands a proper prediction of their overall dynamic characteristics. However, these characteristics cannot be accurately predicted from lower-order material approximation and/or one specific elastomer shape under a specific flow velocity, pretension, and relaxation. In this research, a comprehensive modal and aerodynamic analysis for the VHB 4910 dielectric elastomer membrane of three different shapes is computationally investigated under different electric excitations, pretensions, and flow velocities using the higher-order Ogden model. A finite element model and a two-way, fully coupled fluid–structure interaction model are developed to obtain vibration and aerodynamic characteristics, respectively, for different membrane shapes. It is found that the variation in electric excitation, pretension, and air velocity is influential in altering the overall dynamics of the membrane and is unique to specific shapes. The rectangular membrane shows a higher vibration frequency for the fundamental mode, whereas the circular membrane provides higher frequencies in higher modes. Increased relaxation for a membrane prestretch higher than the moderate range of stretch ratio ($\lambda$ = 3) demonstrates a slight increase in lift coefficient within a small range of angle of attack, followed by a decrease after exceeding that range. Both the rectangular and elliptical membranes show more flexibility to delay the stall compared to the circular membrane. The circular membrane is observed to have more potential for enhancing the aerodynamic performance and altering the flow field within a certain range of electric excitation and pretension. Computational results are compared with published experimental results to validate the corresponding models. Full article

Dielectric elastomer actuators (DEAs) are attracting much attention as candidates for next-generation flexible actuation. Among various DE matrices, polyacrylate rubber (AR) is especially promising owing to their intrinsically high dielectric constant (ε_r) and good mechanical performance. In particular, its mechanical behavior is close to that of porcine bladder tissue, making it a potentially good material for soft biomedical actuators for artificial bladder constructs. To achieve high actuated strain, which requires high ε_r, high breakdown strength, and low elastic modulus, an AR DE composite filled with silane-functionalized TiO₂ was fabricated, exhibiting good electromechanical performance enabled by strengthened interfacial polarization. To improve compatibility between TiO₂ and AR matrix, TiO₂ was preferentially modified with a silane coupling agent (CA) that features a double bond as its functional group, which can be introduced on TiO₂ surface and participate in vulcanization with AR, thereby forming co-crosslinking bridges that strengthen interfacial bonding, improve filler dispersion, and increase interfacial polarizability within the matrix. As a result, at relatively low filler loadings, the composite exhibits a significantly increased ε_r, while maintaining low modulus, low dielectric loss and high elasticity. The 10 CA@TiO₂/AR composite exhibits a maximal actuated strain of 7.9% at 31.9 kV/mm without pre-stretch, which is 1.48 times that of pure AR and 1.32 times that of the 10 TiO₂/AR composite. Full article

In nature, avian species achieve remarkable aerodynamic efficiency by seamlessly coordinating flexible soft tissues to create continuous, adaptive wing surfaces, significantly minimizing drag and eliminating parasitic turbulence. Traditional shape morphing systems rely on bulky mechanical linkages that add excessive weight, often offsetting aerodynamic gains. The integration of soft active materials has emerged as a transformative solution for weight-efficient, seamless actuation. However, a significant disconnect remains between laboratory-scale research and practical aerospace implementation. This perspective evaluates three prominent classes of soft active materials, shape memory polymers (SMPs), dielectric elastomers (DEAs), and liquid crystal elastomers (LCEs), analyzing their actuation mechanisms and comparing their performance in load-bearing, response bandwidth, and energy efficiency. By addressing the necessity of structural-material synergy, we discuss the potential solution for bridging the gap between material synthesis and system-level flight performance to enable the successful deployment of soft active materials in future aerial platforms. Full article

In order to solve the dynamic analysis and interactive imaging control problems in the deformation process of bionic soft lenses, dielectric elastomer (DE) actuators are separated from a convex lens, and data-driven eye-controlled motion technology is investigated. According to the DE properties, which are consistent with the deformation characteristics of hydrogel electrodes, the motion and deformation effect of eye-controlled lenses under film prestretching, lens size, and driving voltage, is studied. The results show that when the driving voltage increases to 7.8 kV, the focal length of the lens, whose prestretching λ is 4, and the diameter d is 1 cm, varies in the range of 49.7 mm and 112.5 mm. And the maximum focal-length change could reach 58.9%. In the process of eye controlling design and experimental verification, a high DC voltage supply was programmed, and eye movement signals for controlling the lens were analyzed by MATLAB software (R2023b). Eye-controlled interactive real-time motion and tunable imaging of the lens were realized. The response efficiency of soft lenses could reach over 93%. The adaptive lens system developed in this research has the potential to be applied to medical rehabilitation, exploration, augmented reality (AR), and virtual reality (VR) in the future. Full article

Artificial muscles translate the biological principles of motion into soft, adaptive, and multifunctional actuation. This review accordingly highlights research into natural actuation strategies, such as skeletal muscles, muscular hydrostats, spider silk, and plant turgor systems, to reveal the principles underlying energy conversion and deformation control. Building on these insights, polymer-based artificial muscles based on these principles, including pneumatic muscles, dielectric elastomers, and ionic electroactive systems, are described and their capabilities for efficient contraction, bending, and twisting with tunable stiffness and responsiveness are summarized. Furthermore, the abilities of carbon nanotube composites and twisted yarns to amplify nanoscale dimensional changes through hierarchical helical architectures and achieve power and work densities comparable to those of natural muscle are discussed. Finally, the integration of these actuators into soft robotic systems is explored through biomimetic locomotion and manipulation systems ranging from jellyfish-inspired swimmers to octopus-like grippers, gecko-adhesive manipulators, and beetle-inspired flapping wings. Despite rapid progress in the development of artificial muscles, challenges remain in achieving long-term durability, energy efficiency, integrated sensing, and closed-loop control. Therefore, future research should focus on developing intelligent muscular systems that combine actuation, perception, and self-healing to advance progress toward realizing autonomous, lifelike machines that embody the organizational principles of living systems. Full article

This work introduces two cooperative dielectric elastomer actuator (DEA) array designs, enabling comparison between a fully soft, wearable-oriented system and a rigid, high-performance platform. The soft silicone-based array achieves strokes up to 1.9 mm and maintains 44% displacement under strong bending, demonstrating suitability for haptic feedback in wearable applications. The rigid prototype, based on thermoformed buckling beams, provides strokes up to 2.8 mm, reduced hysteresis, improved stability, and reproducible fabrication, while allowing fine-tuning of preload conditions. Experiments revealed frequency-dependent coupling, enabling stimulation of defective actuators via neighboring elements and amplification of single-element strokes through cooperative excitation. Furthermore, self-sensing effects were exploited for error detection. These results underline the potential of DEA arrays for decentralized control, fault-tolerant actuation, and future applications in soft robotics and wearable systems. Full article

Compared to traditional mechanical zoom lenses, tunable lenses driven by dielectric elastomers provide clear advantages in zoom range, response speed, and lightweight design. However, these lenses generally employ planar dielectroelastomer actuation, resulting in redundant structures. Additionally, the viscoelastic properties of dielectroelastomer materials often make precise control of focal length difficult. To overcome this issue, this paper introduces a compact, spherical dielectroelastomer-driven tunable lens with a radial size of 20 mm and an effective aperture of 8 mm. A dual-sided actuation structure allows for a 55% adjustment in focal length. Using thermodynamic principles and a spring–viscoelastic rheological model, static and dynamic models of the system have been developed. Experimental results demonstrate that the proposed model accurately predicts the lens’s dynamic response, with a root-mean-square error of less than 0.135, thereby providing a reliable theoretical basis for achieving high-precision focal length control. Full article

With the growing application of soft robot technology in complex, dynamic environments, the limitations of traditional rigid robots have become increasingly prominent, urgently demanding novel soft actuation technologies. Dielectric elastomer actuators (DEAs) have gradually emerged as a research focus in soft robotics due to their high energy density, rapid response, low noise, and excellent compliance. This paper systematically reviews the research progress of DEA-based soft robots over the past decade. Using classification and comparative analysis, DEAs are categorized into four basic types according to their initial shape—planar, saddle-shaped, cylindrical, and conical—with detailed elaboration on their working principles, structural features, and typical applications. Furthermore, from two major application scenarios (underwater and terrestrial), this paper analyzes the adaptability of various DEAs in robot design and corresponding optimization strategies and summarizes their performance and research challenges in bionic propulsion, multi-modal motion, and environmental adaptability. Finally, it provides the prospective future research directions of DEAs in material development, structural design, intelligent control, and system integration, providing theoretical support and technical references for their wide application in fields such as medical treatment, detection, and human–robot interaction. Full article

Polyvinyl chloride (PVC)-dibutyl adipate (DBA) gels are a fascinating dielectric elastomer actuator showing promise in soft robotics. When actuated with high voltages, the gel deforms towards the anode. A recent application of PVC gels in electrohydraulic actuators motivates elastic and hyperelastic constitutive relationships for tensile loading modes. PVC gels with plasticizer-to-polymer weight ratios of 2:1, 4:1, 6:1, and 8:1 w/w were evaluated. PVC gels exhibit a linear elastic region up to 25% strain. The elastic modulus decreased with increasing plasticizer content from 288.8 kPa, 56.1 kPa, 24.7 kPa, to 11 kPa. Poisson’s ratio also decreased with increasing plasticizer content from 0.42, 0.43, 0.39, to 0.35. We suggest that the decrease in polymer concentration facilitates a weakly interconnected polymer network susceptible to chain slippage that hinders the network response, thus lowering Poisson’s ratio. Our work suggests that PVC gels can be treated as isotropic and incompressible for large strains and hyperelastic modeling; however, highly plasticized gels tend to act less incompressible at small strains. The power scaling law between the elastic modulus and plasticizer weight ratio showed high agreement, making the elastic modulus deterministic for any plasticizer content. The Neo–Hookean, Mooney–Rivlin, Yeoh, Gent, Ogden, and extended tube hyperelastic constitutive models are investigated. The Yeoh model shows the highest feasibility when evaluated up to 3.5 stretch, showing a maximum normalized root-mean-square-error of 6.85%. Together, these findings establish a constitutive basis for PVC-DBA gels, incorporating small strain elasticity, large strain non-linear behavior, and network analysis while providing suggestive insight into the network structure required for accurately modeling the EPIC. Full article

A physics-informed neural network (PINN) framework is developed to model the large deformation and coupled electromechanical response of dielectric elastomer tubes for energy harvesting. The system integrates incompressible neo-Hookean elasticity with radial electric loading and compressible gas inflation, leading to nonlinear equilibrium equations with deformation-dependent boundary conditions. By embedding the governing equations and boundary conditions directly into its loss function, the PINN enables accurate, mesh-free solutions without requiring labeled data. It captures realistic pressure–volume interactions that are difficult to address analytically or through conventional numerical methods. The results show that internal volume increases by over 290% during inflation at higher reference pressures, with residual stretch after deflation reaching 9.6 times the undeformed volume. The axial force, initially tensile, becomes compressive at high voltages and pressures due to electromechanical loading and geometric constraints. Harvested energy increases strongly with pressure, while voltage contributes meaningfully only beyond a critical threshold. To ensure stable training across coupled stages, the network is optimized using the Optuna algorithm. Overall, the proposed framework offers a robust and flexible tool for predictive modeling and design of soft energy harvesters. Full article

The unique properties present great prospects for polymeric ionic liquids (PILs) research in these areas, where progress and breakthrough technologies can be expected in the coming years. This brief review examines the latest work (2024–2025) and the prospects for using PILs as an effective component of sensor-related devices for medical or biological applications. Potentially, the PILs-based sensors can detect various movements in real time, which are necessary for high-performance wearable sensor platforms. The artificial electronic skin demonstrates high potential not only as a recording of body signals, but also as an effective wound dressing. The polymer actuators with PILs are indispensable in many applications. Full article

Focusing on the dielectric elastomer actuator (DEA), this paper proposes a backstepping implicit inverse adaptive control scheme with creep direct inverse compensation. Firstly, a novel fractional-order creep Krasnoselskii–Pokrovskii (FCKP) model is established, which effectively captures hysteresis behavior and creep dynamic characteristics. Significantly, this study pioneers the incorporation of the fractional-order method into a hysteresis-coupled creep model. Secondly, based on the FCKP model, the creep direct inverse compensation is developed to combine with the backstepping implicit inverse adaptive control scheme, where the implicit inverse algorithm avoids the construction of the direct inverse model to mitigate hysteresis. Finally, the proposed control scheme was validated on the DEA system control experimental platform. Under both single-frequency and composite-frequency conditions, it achieved mean absolute errors of 0.0035 and 0.0111, and root mean square errors of 0.0044 and 0.0133, respectively, demonstrating superior tracking performance compared to other control schemes. Full article