Shintake, JunRosset, SamuelSchubert, Bryan EdwardFloreano, DarioShea, Herbert2014-09-052014-09-052014-09-052013https://infoscience.epfl.ch/handle/20.500.14299/106733We 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.Dielectric Elastomer ActuatorsArtificial MusclesSoft Roboticstext::conference output::conference poster not in proceedings