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

Figure 14.

Figure 14

High‐voltage driving electronics for untethered soft robots based on HASEL actuators. a) A proof‐of‐concept high‐voltage power supply for untethered operation of HASEL actuators. This circuit used only off‐the‐shelf components; input power was provided by a lithium‐ion battery and the circuit was controlled with an Arduino microcontroller. The high voltages required for actuation were generated by a miniature high‐voltage amplifier, and optocouplers were used as high‐speed, high‐voltage switches to charge and discharge the actuator. b) The weight of the power supply including the battery was ≈100 g, so it was easily lifted by a stack of quadrant donut HASEL actuators operated at 8 kV. c) The power supply was used to actuate an array of three stacks of 22 actuators, which achieved 40% strain under a 1 kg load under an applied voltage of 8 kV. d) Photographs of an untethered, multiple‐degree‐of‐freedom manipulator controlled by a joystick. The soft continuum actuator consisted of three stacks of 55 quadrant donut HASEL actuators, and the design of the gripper was based on curling HASEL actuators. a–d) Reproduced under the terms of the CC‐BY Creative Commons Attribution 4.0 International license (https://creativecommons/licenses/by/4.0).[ 89 ] Copyright 2019, The Authors, published by Wiley‐VCH.