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. 2020 Nov 9;33(19):2003375. doi: 10.1002/adma.202003375

Figure 8.

Figure 8

Curling HASEL actuator. a) A curling HASEL actuator consists of a reservoir of liquid dielectric connected to a corrugated shell. The reservoir is covered with electrodes. When the electrodes zip, the liquid dielectric is displaced into the corrugated shell, which contracts. Attaching a strain limiting layer to one side of the actuator leads to curling. b) Photographs of a biomimetic scorpion tail. c) Curling HASEL actuators can be used for soft grippers capable of grasping objects. d) A curling actuator shaped like a Fibonacci spiral simultaneously curls and twists. e) Using a coiled spring as a strain limiting layer creates an actuation mode that is the inverse to curling; upon activation, liquid dielectric forces the coiled spring to unravel, which causes the actuator to elongate. a,b,d) Reproduced under the terms of the CC‐BY Creative Commons Attribution 4.0 International license (https://creativecommons.org/licenses/by/4.0).[ 89 ] Copyright 2019, The Authors, published by Wiley‐VCH. c) Reproduced with permission.[ 94 ] Copyright 2020, Mary Ann Liebert, Inc. e) Reproduced under the terms of the CC‐BY Creative Commons Attribution 4.0 International license (https://creativecommons.org/licenses/by/4.0).[ 95 ] Copyright 2019, The Authors, published by MDPI.