Printable electrically-driven soft actuator for soft robotics

The field of soft robotics has seen transformative advancements due to its potential for safe, adaptive, and versatile human-environment interactions. Electrically driven actuation mechanisms have emerged as particularly promising in this domain, offering precise control, and seamless integration with electronic systems. Among these mechanisms, dielectric elastomer actuators (DEAs) and electroadhesion (EA) devices stand out for their unique capabilities. However, current DEAs suffer from limited force output that restricts their practical applications, while EA devices typically require high operating voltages for effective adhesion. Additionally, current fabrication methods for both technologies face significant challenges, including labor-intensive manual assembly and difficulties in integrating multiple functionalities into a single device. This thesis addresses these issues by utilizing advanced digital light processing (DLP) 3D printing technologies to develop next-generation electrically driven soft actuators for robotic applications. Therefore, the objective of this thesis is to advance the fabrication and performance of electrically driven actuators for soft robotics by leveraging printing technologies and optimizing material properties. This research focuses on three key aspects: (1) developing DLP-printable materials and fabrication processes for multilayer DEAs to enhance force output and actuation efficiency; (2) fabricating stretchable EA devices with higher output force with low operation voltage; and (3) establishing multi-material DLP printing approaches for seamless integration of DEA and EA functionalities into unified devices. These efforts aim to improve actuation force, enhance adhesion performance, and streamline the manufacturing process, paving the way for multifunctional soft robotic devices with superior efficiency and adaptability. Experimental results demonstrate significant advancements in the field of soft robotics. The DLP-printed DEAs show substantially improved force output compared to conventional single-layer devices, with performance suitable for prosthetic feedback applications. The stencil-printed EA devices achieve strong adhesion forces at reduced operating voltages, enabling practical untethered operation. Furthermore, the integrated DEA-EA devices exhibit multifunctional capabilities suitable for soft grippers, locomotion robots. These findings highlight the transformative potential of combining advanced printing technologies with novel material systems, setting the stage for a new generation of soft robotic systems with enhanced efficiency, adaptability, and functional integration.