A bio-inspired multi-directional HASEL actuator-driven soft robotic tail: design and characterization

Revanth Konda; Erik Hartman; Jun Zhang

doi:10.1117/12.2656884

28 April 2023 A bio-inspired multi-directional HASEL actuator-driven soft robotic tail: design and characterization

Revanth Konda, Erik Hartman, Jun Zhang

Proceedings Volume 12482, Electroactive Polymer Actuators and Devices (EAPAD) XXV; 124820M (2023) https://doi.org/10.1117/12.2656884
Event: SPIE Smart Structures + Nondestructive Evaluation, 2023, Long Beach, California, United States

Abstract

As a recently invented soft actuator, hydraulically amplified self-healing electrostatic (HASEL) actuators have exhibited strong potential for employment in soft and biomimetic robots. HASEL actuators rely on the principle of hydraulics and electrostatic forces to generate motion. Many existing HASEL actuator-driven robots only exhibit one degree-of-freedom (DoF) motion. The few existing designs that generate multi-DoF motion are often bulky and use multiple stacks of HASEL pouches. In this paper, a bio-inspired robotic tail powered by HASEL actuators is presented. The tail is a popular structure considered for bioinspiration, due to its ability to exhibit fluidic multi-DOF motion while being compliant. While HASEL actuators-driven tails have been developed in the past, very few of them exhibit multi-DOF complex motion, which is a critical aspect of a tail. The proposed robotic tail utilized compact multi-directional HASEL actuators that used two inputs to achieve motion in three-dimensional space. The transient and steady state voltage–deflection angle correlations of the rightward, leftward, and upward curls of the robotic tail under different loading conditions were experimentally characterized. Furthermore, a lifecycle test was conducted at multiple inputs. Satisfactory performance was obtained. For example, the robotic tail could generate 169.8◦ side-ward deflection and 262.7◦ upward deflection when no loads were applied.

Conference Presentation

Citation Download Citation

Revanth Konda, Erik Hartman, and Jun Zhang "A bio-inspired multi-directional HASEL actuator-driven soft robotic tail: design and characterization", Proc. SPIE 12482, Electroactive Polymer Actuators and Devices (EAPAD) XXV, 124820M (28 April 2023); https://doi.org/10.1117/12.2656884

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available