HASEL actuators use an electro-hydraulic mechanism to combine the benefits of liquid and electrostatic actuators. The use of liquid dielectric substances can enable the use of hydraulic principles to scale operation and voltage. A wide range of different operating modes can be achieved by pressurizing and moving a hydraulic fluid within deformable structures. HASEL actuators can be designed to extend or contract linearly by applying voltage, and can have three-dimensional mobility. In addition, HASEL actuators can be made from a variety of materials and can be compatible with a variety of manufacturing techniques. In view of at least the above, the performance described in this document includes a new class of soft actuators (p. E.g., for soft robotics applications and the like), and methods for the use and manufacture of such soft drives.
I think it is important to note that HASEL actuators rely significantly on advances in soft liquid actuators. Peano-HASEL actuators rely mainly directly on Peano’s large documents on liquid actuators [16-18]. In addition, unlike DEAs, HASEL actuators do not have to rely on elastomers (Peano-HASELs use a thin flexible polymer housing) and the basic operating principles do not work without the use of hydraulic fluids. Therefore, I believe that HASEL actuators are best described to synergize the activation mechanism of dielectric elastomers with the versatility and ease of soft fluid actuators production, thus forming a new direction of research for artificial muscles.
As dielectric elastomer actuators, HASEL artificial muscles are powered by Maxwell and stress, therefore, they inherit the high performance and self-sensitivity of DEAs. Unlike DEAs, HASELs use a liquid dielectric, self-curing after dielectric decomposition, thus avoiding central DEA problems, such as catastrophic dielectric decomposition and electrical aging. For this exact reason, the industry widely uses liquid dielectricums in heavy vehicle transformers. The analytical model presented by Kellaris et al. describes how we can produce a Peano-HASEL battery with higher specific energy, resulting in increased power production while keeping the total weight constant. The production of these actuators is currently limited by available plastic films and manufacturing techniques. As the size of the bag decreases, the flexural stiffness of the plastic plays a more prominent role in the limiting performance (Kellaris et al. 2019).
7A, The electrodes from the 1970s cover part of the center of the width of 704 cells, in this case, about half the total width of the bag (indicated by double coupling arrows 710) so the 700 actuator displays a length L0 when no voltage is applied to the 702 electrodes. 7A and 7B are located far from the edges of the actuator, The risk of airborne dielectric decomposition at the edges of the actuator is reduced and plastic film on the left and right edges of the actuator can be kept to a minimum, reducing mechanical restrictions on those edges. 2) Even before I started promoting Siegfried Bauer, he introduced me to the fascinating world of dielectric elastomer actuators . I immediately became convinced that this type of actuator is promising, given the speed, efficiency and capacitive deformation capacity of self-sensitive people.
The liquid, on the other hand, is only locally redistributed into electro-hydraulic soft drives; to date it is not understood what the speed of action controls. The dynamic performance of the Peano-HASEL exceeds the skills of the CC motor actuator. With the custom finger, the maximum flex speed was 10.6 times higher and the bandwidth was 11.1 times greater than the DC motor actuator. The smaller dimensions of the bag and the dielectric liquids with a lower viscosity can lead to even faster performance (Rothemund et al. 2020). These dynamic performance will become even more important as improved myo-electric control algorithms are available for prosthetic hands. In addition, the life of currently available Peano-HASEL actuators is less than that of established DC motors.
However, Peano-HASEL actuators produce a maximum strain of ≈15%, while skeletal muscles reach an average of ≈20%. Here a new type of HASEL is introduced, the high voltage Peano-HASEL (HS – Peano – HASEL) actuator, which achieves a linear contraction up to ≈24%. A wide range of performance statistics are investigated and the maximum strain of multi-unit HS-Peano-HASEL actuators is optimized with different materials and geometry. In addition, an artificial circular muscle based on HS-Peano-HASEL acts as a tubular pump, resembling the primal heart of an ascidium. In addition, a pulley system for voltage amplifiers is introduced to increase the maximum voltage of an HS – Peano – HASEL to 42%. The muscular performance strain and excellent overall performance of HS-Peano-HASEL actuators make them promising candidates for use in artificial organs, robotic lifestyle faces and a variety of other robot systems.
Current designs for motorized prosthetic limbs are limited by the almost exclusive use of DC motor technology. Soft actuators promise new design freedom to create prosthetic limbs that more closely mimic intact neuromuscular systems and improve the capabilities of prosthetic users. This work evaluates the performance of a hydraulically reinforced self-repairing electrostatic soft drive for use in a prosthetic hand. We compared a linear contracting HASEL actuator haptics called Peano-HASEL with an existing actuator when controlling a prosthetic finger as used in multifunctional prosthetic hands. A kinematic model of the prosthetic finger is developed and validated, and is used to adjust a test finger tuned to complement the strength stretch marks of Peano-HASEL actuators. An analytical model is used to inform the design of an improved Peano-HASEL actuator to increase the pinching power of the fingertip of the prosthetic finger.
We believe that many types of electro-hydraulic soft drives have a viscous, slow dynamic regimen. There are different types of electro-hydraulic drives, the scales of which consist of thin and unbridled films . For these actuators, the scale analysis presented can be easily adjusted to identify government terms to take into account differences in geometry and electro-hydraulic zipper modes . In addition, the conclusions of this work can be applied to other types of electro-hydraulic drives, pumps (38 ồ – 40) and generators in which elastic deformations play an important role. Elastic strains complicate the theoretical analysis of these transducers, but we also hope that they exhibit an inertial and viscous regimen so that similar strategies can be applied to increase their speed. In general, a reduction in their operation can increase the operating speed of these electro-hydraulic transducers; When the viscosity of the working fluid limits the working speed, it can be significantly increased by using working fluids with less viscosity.
When the voltage is applied, the resulting electric field E joins the electrodes and moves the liquid dielectric locally. The resulting hydraulic pressure P deforms the unbridable thermoplastic housing and causes linear contraction. A variety of Peano-HASEL actuators, a new type of powerful electro-hydraulic artificial muscle, that leads a custom prosthetic finger. Actuators contract linearly under an applied voltage of 6 kV, which bent the prosthetic finger. The HASEL actuator, or a hydraulically reinforced self-repairing electrostatic actuator, is known for a new type of artificial muscle.
One of these approaches uses self-cleaning electrodes to isolate dielectric decomposition sites, but the dielectric self remains damaged, deteriorating device performance. Another approach of this type uses a dielectric layer consisting of a silicone sponge pumped up with silicone oil, and the oil is redistributed locally after a failure due to electrical or mechanical damage; but this approach is only useful at low performance voltages. The flexible polymer bag is filled with the insulating liquid dielectric to form a soft hydraulic structure.