Dielectric Elastomer Actuators for soft-grasping

We demonstrate here a configuration of soft actuator which has several features such as, being completely soft, simple, thin, foldable, and stretchable while having uni/bidirectional bending actuation. Theoretically the actuation can be extended to multidirectional. We used Dielectric Elastomer Actuators (DEA) as a base actuation mechanism, and molded PDMS was used as a substrate of the device.

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