Soft Actuators: Electrostatic Zipping and HAXELS

This lecture explores soft electrically-driven actuators for robotics and haptics, focusing on electrostatic actuation principles like ES clutches, DEA, zipping actuators, and EHD pumps. It delves into the development of soft actuators using various materials and physical principles, such as thermal phase change materials, ionic-polymer-metal composites, and dielectric elastomer actuators. The presentation covers the challenges and advancements in creating soft actuators with high strain, force density, power density, and energy efficiency. Additionally, it discusses the integration of soft actuators into wearable devices, including soft robotics, haptic interfaces, and fluidic systems.