FlexEOP: Flexible Shape-changing Actuator using Embedded Electroosmotic Pumps

Shape-changing actuators have been widely explored in the field of human-computer interaction (HCI), enabling various applications of shape-changing interfaces across from haptic feedback devices to robotics. However it is still challenging for existing methods to build shape-changing actuators that are flexible, capable of complex shape-changing behaviors, and highly self-contained at the same time. In this paper, we proposed FlexEOP, a method to create flexible electroosmotic pumps that are fully composed of flexible materials, facilitating shape-changing actuators with high flexibility and self-containment. We introduced the structure of FlexEOP and then demonstrated the design space of FlexEOP, including shape-changing display on flexible strips, panels, and curved surfaces, and a novel design of soft robotic fiber. Based on FlexEOP, we envision future applications including wearable tactile devices, curved shape-changing displays, and multi-degree-of-freedom self-contained soft robotics.