Development and Control of Electrohydraulic Actuators for Soft Robotics
Abstract: Electrohydraulic soft actuators, integrating electrostatic actuation with hydraulic force, have unlocked an alternative to pneumatic muscles for haptics. The actuator uses electrostatic forces to push dielectric liquid encapsulated inside a flexible, hermetic pouch, mimicking the contraction and relaxation of a human tendon, resulting in a true-to-life motion that can be controlled with an applied voltage. To achieve electrostatic actuation, the system necessitates high voltages, thereby fettering the user. Therefore, an affordable high-voltage power supply is presented, making these muscles a practical solution for real-world applications in wearable robotics, soft robotics, and virtual reality. Moreover, the muscles offer an adaptable, cost-effective way to create natural, responsive haptic interactions.
Advisor: Professor Cagdas Onal
Committee: Professor Siavash Farzan, Professor Kevin Leahy