COMSOL modelling of HASEL actuators and their applications in robotic systems

Alexandrea Washington; Zakai Olsen; Taeseon Hwang; Ji Su; Kwang Jin Kim

doi:10.1117/12.2584152

22 March 2021 COMSOL modelling of HASEL actuators and their applications in robotic systems

Alexandrea Washington, Zakai Olsen, Taeseon Hwang, Ji Su, Kwang Jin Kim

Proceedings Volume 11587, Electroactive Polymer Actuators and Devices (EAPAD) XXIII; 1158706 (2021) https://doi.org/10.1117/12.2584152
Event: SPIE Smart Structures + Nondestructive Evaluation, 2021, Online Only

Abstract

Current and prominent actuation systems used today are limited due to a number of factors including a lack of mechanical flexibility, large system mechanisms, and the inability to integrate safely with biological systems. However, in the novel field of soft robotics, there is a unique liquid-based electroactive polymer actuator (EAP actuator) called the HASEL actuator, that can satisfy these limitations. The HASEL actuator is a versatile actuator, utilizing compliant materials in conjunction with the principles of electrostatic and hydraulic actuation. This study aims to build a model to better understand the system and further explore the versatility of the actuator in practical applications.

Conference Presentation

Citation Download Citation

Alexandrea Washington, Zakai Olsen, Taeseon Hwang, Ji Su, and Kwang Jin Kim "COMSOL modelling of HASEL actuators and their applications in robotic systems", Proc. SPIE 11587, Electroactive Polymer Actuators and Devices (EAPAD) XXIII, 1158706 (22 March 2021); https://doi.org/10.1117/12.2584152

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