Variable stiffness actuator for soft robotics using dielectric elastomer and low-melting-point alloy

We developed an actuator using DEA and low-melting-point-alloy (LMPA) embedded silicone substrate. The actuator which we call variable stiffness dielectric elastomer actuator (VSDEA) exhibits a bending actuation and a high rigidity change (~90x) between the soft state and the rigid state.

To demonstrate the usefulness of the actuator, we developed a gripper consisted of two VSDEAs acting as fingers. The gripper showed successful handling of an object where the soft state leads to a better confirmation of the fingers, and the rigid state provides sufficient holding force.

The result will be presented at the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany.

This work has been done as a collaboration work with the EPFL-LMTS.