Fabrication and analysis of dielectric-elastomer minimum-energy structures for highly-deformable soft robotic systems

@article{Petralia2010FabricationAA,
  title={Fabrication and analysis of dielectric-elastomer minimum-energy structures for highly-deformable soft robotic systems},
  author={Michael Petralia and Robert J. Wood},
  journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2010},
  pages={2357-2363}
}
Dielectric-elastomer minimum-energy structures (DEMES) form an emerging class of soft robotic systems. The appropriate materials and methods for rapidly fabricating DEMES prototypes are described. A DEMES component suitable for use in highly-deformable soft robots is presented and analyzed. Combinations of this component into snakelike robots are also presented. Calculations for determining the upper limit of a DEMES's mechanical work output, electromechanical efficiency, and energy density are… CONTINUE READING
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