Dielectric elastomer (DE) actuators are popularly referred to as artificial muscles because their impressive actuation strain and speed, low density, compliant nature, and silent operation capture many of the desirable physical properties of muscle. Unlike conventional robots and machines, whose mechanisms and drive systems rapidly become very complex as the number of degrees of freedom increases, groups of DE artificial muscles have the potential to generate rich motions combining many translational and rotational degrees of freedom. These artificial muscle systems can mimic the agonist-antagonist approach found in nature, so that active expansion of one artificial muscle is taken up by passive contraction in the other. They can also vary their stiffness. In addition, they have the ability to produce electricity from movement. But departing from the high stiffness paradigm of electromagnetic motors and gearboxes leads to new control challenges, and for soft machines to be truly dexterous like their biological analogues, they need precise control. Humans control their limbs using sensory feedback from strain sensitive cells embedded in muscle. In DE actuators, deformation is inextricably linked to changes in electrical parameters that include capacitance and resistance, so the state of strain can be inferred by sensing these changes, enabling the closed loop control that is critical for a soft machine. But the increased information processing required for a soft machine can impose a substantial burden on a central controller. The natural solution is to distribute control within the mechanism itself. The octopus arm is an example of a soft actuator with a virtually infinite number of degrees of freedom (DOF). The arm utilizes neural ganglia to process sensory data at the local “arm” level and perform complex tasks. Recent advances in soft electronics such as the piezoresistive dielectric elastomer switch (DES) have the potential to be fully integrated with actuators and sensors. With the DE switch, we can produce logic gates, oscillators, and a memory element, the building blocks for a soft computer, thus bringing us closer to emulating smart living structures like the octopus arm. The goal of future research is to develop fully soft machines that exploit smart actuation networks to gain capabilities formerly reserved to nature, and open new vistas in mechanical engineering.

The potential to produce light-weight, low-cost, wearable dielectric elastomer generators has been limited by the requirement for bulky rigid, and expensive external circuitry. In this letter, we present a soft dielectric elastomer generator whose stretchable circuit elements are integrated within the membrane. The soft generator achieved an energy density of 10 mJ/g at an efficiency of 12% and simply consisted of low-cost acrylic membranes and carbon grease mounted in a frame.

Dielectric elastomer generators (DEG) in their present form are not suitable for autonomous power generation; they simply increase the amount of power that an electrical energy source can supply. They require a priming charge for each cycle, normally provided by an auxiliary power source but, due to charges being transferred to a load or depleted by system losses, the energy source will eventually need replacing. In this paper we present a self-priming DEG system that is capable of replenishing these charge losses from generated energy, meaning that the energy source no longer requires periodic replacement. We then experimentally demonstrate that this system not only can replenish charge losses, but also is capable of increasing the amount of charge in the system and the voltage across the capacitance storing the charge. For instance, the system was capable of gradually boosting its voltage from 10 V up to 3.25 kV. This is highly advantageous because it was also shown that the efficiency of DEG power generation increases monotonically with DEG voltage. Also, this system allows these higher voltages to be reached without the need for a high voltage transformer, reducing the system cost.

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Dielectric Elastomer (DE) transducers are essentially compliant capacitors fabricated from highly flexible materials that can be used as sensors, actuators and generators. The energy density of DE is proportional to their dielectric constant (ε r ), therefore an understanding of the dielectric constant and how it can be influenced by the stretch state of the material is required to predict or optimize DE device behavior. DE often operate in a stretched state. Wissler and Mazza, Kofod et al., and Choi et al. all measured an ε r of approximately 4.7 for virgin VHB, but their results for prestretched DE showed that the dielectric constant decayed to varying degrees. Ma and Cross measured a dielectric constant of 6 for the same material with no mention of prestretch.In an attempt to resolve this discrepancy, ε r measurements were performed on parallel plate capacitors consisting of virgin and stretched VHB4905 tape electroded with either gold sputtered coatings or Nyogel 756G carbon grease. For an unstretched VHB tape, an ε r of 4.5 was measured with both electrode types, but the measured ε r of equibiaxially stretched carbon specimens was lower by between 10 to 15%. The dielectric constant of VHB under high fields was assessed using blocked force measurements from a dielectric elastomer actuator. Dielectric constants ranging from 4.6-6 for stretched VHB were calculated using the blocked force tests. Figure of merits for DE generators and actuators that incorporate their nonlinear behavior were used to assess the sensitivity of these systems to the dielectric constant.

This paper reports the design, fabrication, and testing of a soft dielectric elastomer power generator with a volume of less than 1 cm 3 . The generator is well suited to harvest energy from ambient and from human body motion as it can harvest from low frequency (sub-Hz) motions, and is compact and lightweight. Dielectric elastomers are highly stretchable variable capacitors. Electrical energy is produced when the deformation of a stretched, charged dielectric elastomer is relaxed; like-charges are compressed together and opposite-charges are pushed apart, resulting in an increased voltage. This technology provides an opportunity to produce soft, high energy density generators with unparalleled robustness. Two major issues block this goal: current configurations require rigid frames that maintain the dielectric elastomer in a prestretched state, and high energy densities have come at the expense of short lifetime. This paper presents a selfsupporting stacked generator configuration which does not require rigid frames. The generator consists of 48 generator films stacked on top of each other, resulting in a structure that fits within an 11 mm diameter footprint while containing enough active material to produce useful power. To ensure sustainable power production, we also present a mathematical model for designing the electronic control of the generator which optimizes energy production while limiting the electrical stress on the generator below failure limits. When cyclically compressed at 1.6 Hz, our generator produced 1.8 mW of power, which is sufficient for many low-power wireless sensor nodes. This performance compares favorably with similarly scaled electromagnetic, piezoelectric, and electrostatic generators. The generator's small form factor and ability to harvest useful energy from low frequency motions such as tree swaying or shoe impact provides an opportunity to deliver power to remote wireless sensor nodes or to distributed points in the human body without the need for costly periodic battery replacement.