Hydraulically Amplified Self-Healing ELectrostatic (HASEL) Inspired Actuators

Abstract: This report presents research conducted on amplified self-healing electrostatic (HASEL) actuators. HASEL actuators are comprised of a dielectric fluid sealed between two inextensible layers with bonded, flexible electrodes on its outer surface. When charge is applied to the electrodes, Coulomb force compresses the fluid and causes the actuator to contract. In this work a faster, more customizable and convenient way of creating a HASEL actuator is presented, using a laser engraver to heat-seal and cut polypropylene sheets. Using this technique, a hydraulically actuated soft lens is fabricated and demonstrated.