Fast-moving thin soft-rigid hybrid robot driven by in-plane dielectric elastomer actuator

Abstract In-plane thin dielectric elastomer actuators (DEAs) represent a promising solution for miniaturised soft robots capable of navigating confined spaces. However, most existing in-plane DEAs are either fabricated using off-the-shelf materials or rely on membranes attached to rigid frames, which limit their actuation performance and pose challenges for integration into locomotion-based soft robots. This work introduces a novel in-plane DEA-based thin soft-rigid hybrid robot for fast movement. The innovative design features a multi-layer silicone-based elastomer tensioned by an in-plane elastic PETG frame. A detailed spin coating fabrication method is presented for producing multilayer silicone-based in-plane DEAs. The robot demonstrated effective crawling on flat surfaces and resonance-driven high-speed locomotion at 53 Hz, achieving a peak velocity of approximately 12.3 mm s −1 which is 34.2% of its body length per second and 224% of body thickness per second. This study highlights the potential of DEAs for advancing miniaturised soft robotics, especially in applications that demand lightweight, flexible, and thin profile actuators.