Spider-Inspired Electrohydraulic Actuators for Fast, Soft-Actuated Joints.

The impressive locomotion and manipulation capabilities of spiders have led to a host of bioinspired robotic designs aiming to reproduce their functionalities; however, current actuation mechanisms are deficient in either speed, force output, displacement, or efficiency. Here-using inspiration from the hydraulic mechanism used in spider legs-soft-actuated joints are developed that use electrostatic forces to locally pressurize a hydraulic fluid, and cause flexion of a segmented structure. The result is a lightweight, low-profile articulating mechanism capable of fast operation, high forces, and large displacement; these devices are termed spider-inspired electrohydraulic soft-actuated (SES) joints.

Peano-HASEL actuators: Muscle-mimetic, electrohydraulic transducers that linearly contract on activation.

Soft robotic systems are well suited to unstructured, dynamic tasks and environments, owing to their ability to adapt and conform without damaging themselves or their surroundings. These abilities are crucial in areas such as human-robot interaction. Soft robotic systems are currently limited by the soft actuators that power them.