UCLA

Soft robotic devices require highly stretchable and flexible materials to ensure that they can conform to delicate objects and work safely alongside humans. As a result, new flexible actuation technologies must be developed so that soft robotic platforms can achieve their desired function. Dielectric elastomer actuators are an emerging actuator technology that possesses high energy density in a lightweight package. However, since these actuators utilize a thin, soft elastomer film, they are particularly delicate and depending on their configuration, do not efficiently outcouple their outputted mechanical energy. Rigid frames, metallic springs, and other mechanisms have been used in the past to improve the performance of these actuators in various configurations, but these highly stiff components are not ideal for soft robotic applications. Novel strategies can be implemented to mitigate these issues. In this work, we highlight new strategies to create novel dielectric elastomer actuator configurations with high power density, large strokes, and high force output. First, we discuss the development of a core-free rolled dielectric elastomer. We then discuss a flexible DEA-based fluidic pump that can output high flowrates and withstand large pressures for its small size. Finally, we detail a novel mechanism to control the deformation direction of DEAs, and leverage this mechanism to create a patch-like haptic interface for virtual reality applications.