Cooperative Systems Based on Arrays of Dielectric Elastomer Actuators

This work introduces two cooperative dielectric elastomer actuator (DEA) array designs, enabling comparison between a fully soft, wearable-oriented system and a rigid, high-performance platform. The soft silicone-based array achieves strokes up to 1.9 mm and maintains 44% displacement under strong bending, demonstrating suitability for haptic feedback in wearable applications. The rigid prototype, based on thermoformed buckling beams, provides strokes up to 2.8 mm, reduced hysteresis, improved stability, and reproducible fabrication, while allowing fine-tuning of preload conditions. Experiments revealed frequency-dependent coupling, enabling stimulation of defective actuators via neighboring elements and amplification of single-element strokes through cooperative excitation. Furthermore, self-sensing effects were exploited for error detection. These results underline the potential of DEA arrays for decentralized control, fault-tolerant actuation, and future applications in soft robotics and wearable systems.