Journal
ADVANCED MATERIALS
Volume 28, Issue 19, Pages 3690-3696Publisher
WILEY-V C H VERLAG GMBH
DOI: 10.1002/adma.201600107
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Most soft robotic systems are currently dependent on bulky compressors or pumps. A soft actuation method is presented combining hyperelastic membranes and dielectric elastomer actuators to switch between stable deformations of sealed chambers. This method is capable of large repeatable deformations, and has a number of stable states proportional to the number of actuatable membranes in the chamber.
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