Design and Demonstration of a 3D Soft-Robotics Module Based on Rolled Dielectric Elastomer Actuators (RDEAs)

Abstract As robots increasingly collaborate with humans and navigate complex, unstructured environments, soft robots have emerged as an alternative to rigid ones. These robots, partially or entirely made of compliant materials, offer enhanced adaptability and safety. Common actuation methods include pneumatics, hydraulics, shape memory alloys, and dielectric elastomer actuators (DEAs). This study introduces a bending module for a segmented soft robotics arm, actuated by rolled DEAs (RDEAs). They offer a high energy density, bandwidth, self-sensing capabilities and simple manufacturing. Our RDEAs are assembled from two sheets of 50 μm-thick silicone film with carbon-black-based electrodes, wound into a flexible roll. The segment itself consists of two circular platforms, comprised of milled printed circuit boards (PCBs), which are connected via a custom designed low-friction ball joint. Nine RDEAs, which are actuated by a three-channel voltage amplifier, are arranged around the platform and enable controlled bending of up to 25° in all directions. A demonstrator showcases the system’s capabilities, allowing playback of prerecorded trajectories or interactive control via a game controller, which emphasizes the aspect of human-robot interaction. Future work involves stacking multiple systems to create a highly articulated soft robotics arm and adapting self-sensing and control algorithms.