This paper reviews state-of-the-art dielectric elastomer actuators (DEAs) and their future perspectives as soft which have recently been considered a key power generation component for robots. begins with the introduction of working principle actuators. Because operation DEA includes physics both mechanical viscoelastic properties characteristics, we describe theoretical modeling methods before introducing applications. In addition, design artificial muscles based on is also introduced. four...

A polymer-waveguide-based transparent and flexible force sensor array is proposed, which satisfies the principal requirements for a tactile working on curvilinear surfaces, such as thinfilm architecture (thickness < 150 μm), localized sensing (ca. 0–3 N), multiple-point re cognition (27 points), bending robustness (10.8% degradation at R = 1.5 mm), fast response (bandwidth > 16 Hz). As service to our authors readers, this journal provides supporting information supplied by authors. Such...

This paper reports soft actuator based tactile stimulation interfaces applicable to wearable devices. The is prepared by multi-layered accumulation of thin electro-active polymer (EAP) films. designed produce electrically-induced convex protrusive deformation, which can be dynamically programmable for wide range stimuli. maximum vertical protrusion <inline-formula> <tex-math notation="LaTeX">${{650}}\,\mu {\mathrm{m}}$</tex-math></inline-formula> and the output force up 255 mN. actuators are...

Transition metal dichalcogenides (TMDs) layers of molecular thickness, in particular molybdenum disulfide (MoS 2 ), become increasingly important as active elements for mechanically flexible/stretchable electronics owing to their relatively high carrier mobility, wide bandgap, and mechanical flexibility. Although the superior electronic properties TMD transistors are usually integrated into rigid silicon wafers or glass substrates, achievement similar device performance on flexible...

In this paper, we propose a shape memory alloy (SMA)-based wearable robot that assists the wrist motion for patients who have difficulties in manipulating lower arm. Since SMA shows high contraction strain when it is designed as form of coil spring shape, proposed muscle-like actuator was after optimizing parameters. The fabricated maximum force 10 N and ratio 40%. SMA-based robot, named soft assist (SWA), 2 degrees freedom (DOF) motions. addition, totally flexible weighs 151g parts. A...

This article proposes a shape memory alloy (SMA)-based artificial muscle that has an active cooling system. An SMA coil spring is embedded into stretchable coolant vessel, which allows of through circulation. The effect been investigated by measuring actuation speed. Integrating thermomechanical model and heat transfer between SMA, times have estimated. Based on these results, performances use four different coolants found out, the mineral oil case shows both contraction extension less than...

This article proposes a reinforced soft gripper with mechanically strengthened electroadhesion pad and multilayered dielectric elastomer (DE) actuator, for practical robotic application. The reinforcement of the is achieved by metallic electrode pattern printed on flexible polyimide film, which has higher elastic modulus than typical materials. Moreover, DE actuator used to increase bending force gripper. We maximize performance optimizing design factors through experimental simulation...

The Ubi-Pen is a pen-like haptic interface incorporating compact tactile display and vibrating module. It can represent patterns provide feedback with the click of button. It's also applicable to combined force- tactile-feedback display.

In this paper, we report an integrated soft and transparent visuo-haptic interface, which is compatible with flexible devices wearable gadgets. The interface composed of a touch-sensitive visual display based on polymer waveguides dielectric elastomer microactuators (DEMA) array. display, formed via continuative multistep photolithography, multilayered structure tactile-sensing layer stacked onto visual-imaging layer. dual-functional thin (total thickness: <;200 μm) (transmittance: as high...

This letter proposes a soft wearable robot with shape memory alloy (SMA)-based artificial muscle to assist upper limb motion. The SMA-based was designed by embedding bundle of SMA coil springs into stretchable coolant vessel, which allows active cooling the bundles through circulation. By attaching muscles brace, elbow flexion and forearm supination/pronation. To support activities daily living (ADLs), proposed can produce more than 3 Nm torque in direction flexion. In addition, increase...

Human–robot collaboration (HRC) is effective to improve productivity in industrial fields, based on the robot's fast and precise work human's flexible skill. To facilitate HRC system, first priority ensure safety event of accidents, such as collisions between robots humans. Therefore, a protective collision‐sensitive robot skin, named Gel‐Skin proposed guarantee HRC. The composed polyvinyl chloride (PVC) gel, which functional material with piezoresistive characteristics impact absorption...

Wearable tactile interfaces can enhance immersive experiences in virtual/augmented reality systems by adding stimulation to the skin along with visual and auditory information delivered user. We introduce a flat cone dielectric elastomer actuator (FCDEA) array that is thin, soft, capable of producing spatiotemporally adjustable large static-to-dynamic force response electric voltage signals on areas skin. Integration FCDEA into photomicrosensor enables implementation wearable wireless...

Developing tunable lenses, an expansion-based mechanism for dynamic focus adjustment can provide a larger focal length tuning range than contraction-based mechanism. Here, we develop expansion-tunable soft lens module using disk-type dielectric elastomer actuator (DEA) that creates axially symmetric pulling forces on lens. Adopted from biological accommodation in human eyes, at the annular center of DEA pair is efficiently stretched to change highly reliable manner. A with diameter 3 mm...

This paper reports a soft fingertip-mountable tactile actuator based on Dielectric Elastomer Actuator (DEA), which exhibits high output force over wide frequency range with lightweight and structure. DEA is characterized by its large area strain, fast response speed, specific energy density. The proposed constructed of multi-layered conical design has safety benefits because it isolates the voltage components from contact point. In this paper, resonance was designed to be at 250 Hz maximize...

This paper proposes a tactile display device providing pin-array type feedback and thermal feedback. The is composed of 6times5 that actuated by 30 piezoelectric bimorphs. Micro shape vibrotactile can be generated the device, various planar distributed patterns displayed as braille cell patterns. thin film resistance temperature detector (RTD), Peltier thermoelectric heat pump water cooling jacket. Users discriminate among different materials considering variation sensed they touch an...

Although people usually contact a surface with some area rather than point, most haptic devices allow user to interact virtual object at one point time and likewise rendering algorithms deal such situations only. In palpation procedure, medical doctors push rub the organ's surface, are provided sensation of distributed pressure force (reflecting force) for discerning doubtable areas organ. this paper, we suggest real-time area-based describe simultaneously, present interface system generate...

We propose and demonstrate an all-solid-state tunable binary phase Fresnel lens with electrically controllable focal length. The is composed of a zone plate, circular acrylic frame, dielectric elastomer (DE) actuator which made thin DE layer two compliant electrodes using silver nanowires. Under electric potential, the produces in-plane deformation in radial direction that can compress zones. electrically-induced compresses zones to be contracted as high 9.1% changes length, getting shorter...

We report a flexible visuo-haptic display that allows for interactive haptic feedback on the visual display. The is fabricated by integrating dielectric elastomer (DE) based thin film actuator array into and pressure sensors. DE consists of nine active cells, which generate thickness-mode deformation in response to voltage signal. presents images aligned three alphabet characters at each section 3 × matrix during light propagation via optical multiwaveguide. sensors are placed bottom...

We demonstrate a robust flexible tactile actuator that is capable of working under high external pressures. The based on pyramidal microstructured dielectric elastomer layer inducing variation in both mechanical and properties. vibrational performance the can be modulated by changing geometric parameter microstructures. evaluated high-pressure loads up to 25 kPa, which over typical range pressure applied when humans touch or manipulate objects. Due benefit nonlinearity structure, could...

Abstract Core/shell (C/S)-structured upconversion nanophosphor (UCNP)-incorporated polymer waveguide-based flexible transparent displays are demonstrated. Bright green- and blue-emitting Li(Gd,Y)F 4 :Yb,Er :Yb,Tm UCNPs synthesized via solution chemical route. Their luminescence (UCL) intensities enhanced by the formation of C/S structure with LiYF shell. The :Yb,Er/LiYF :Yb,Tm/LiYF exhibit 3.3 2.0 times higher UCL than core counterparts, respectively. In addition, NaGdF :Yb,Tm/NaGdF :Eu they...

This letter proposes a new mechanism, four-bar linkage-based support hinge for assisting with shoulder abduction artificial muscle based on shape memory alloy (SMA). An using the SMA coils is designed to lighten entire system and wearer's movement both actively passively. It can generate up 273 N 180 without energy input, respectively, while weighing only 0.04 kg. Furthermore, consider rotation axis shifts of arm during abduction, trajectory along modeled scapulohumeral rhythm, combined...

For designing the assistive wearable rehabilitation robots, it is challenging to design robot as energy efficient because actuators have be capable of overcoming human loads such gravity body and spastic torque continuously during assistance. To address these challenges, we propose a novel soft artificial muscle that utilizes shape memory alloy (SMA) spring with pre-detwinning process. The SMA was fabricated through process called pre-detwinning, which enhances linearity in martensite phase...

In recent years, soft robotic grippers have emerged as a promising solution for versatile and safe manipulation of objects in various fields. However, precise force control is critical, especially when handling delicate or fragile objects, to avoid excessive grip application prevent object slippage. Herein, we propose novel three-degree-of-freedom sensor incorporated within gripper realize stable grasping with feedback. The proposed optical employs lightweight compact fibers, thereby...