Dielectric elastomer switch with the potential as bricks of cooperative multi-actuator system

Collaborative multi-actuator systems will become important in future applications such as robotics, medical devices, and advanced user interfaces. Potential uses for such devices range from macro to micro scales. To obtain smart, entirely soft bio-inspired robots, fully soft electronic circuits are required. Dielectric elastomers (DE) are electroactive polymers with multifunctional properties like actuation, sensing, or energy harvesting. We here present the application of complex DEcircuitry, to combine and intrinsically control multiple unit cells. A mathematical framework was introduced for modeling DE-based multi-actuator networks, capitalizing on the versatile nature of DEs as actuators, digital switches, capacitors, and resistors. This model facilitated the creation of intricate actuator systems endowed with logic operation capabilities. Based on a simple unit cell mathematical model that has been experimentally validated, a model for more complex multi-actuator networks was derived. Using traditional electronic design methods such as pass transistor logic, we laid out larger electronic networks and simulated their behavior using SIMULINK. By integrating different DE components, we simulated networks capable of switching between pre-defined actuation patterns. The model accurately inverted the square wave pulse input voltage in each stage, replicating the delayed feedback of the DE switch. The approach can be extended to model more complex systems, validated through experimentation. It established the foundation for advanced multi-actuator systems in soft robotics and beyond, offering intelligent solutions for various challenges.