Soft Robot Actuated by Electrostatic Force

Conventional robots are rigid, powerful and robust, and hence they have been serving as trustworthy tools to assist human in a variety of activities. However, due to their rigid body, they lack flexibility to cope with situations where space is confined, terrain is complex, or the environment is constantly changing. To solve these problems, researchers have focused on developing soft robots that can adapt to different environments. Nevertheless, most of the current locomotive actuation methods and materials have limited applications due to either large size, heavy weight, low speed, or complicated fabrication. We have designed, prototyped, and tested a thin-film-based electrostatic soft actuator that overcomes many of these drawbacks. A robotic bug based on this electrostatic actuator was designed and showed its (1) climbing ability through ascending inclines up to 30°, (2) flexibility through shape-recovery after crushing, (3) adaptability through walking on both rough and smooth surfaces and (4) maneuverability by precisely steering into a designated space. The development of such light weight flexible soft robotics will enable tasks such as surveillance, search-and-rescue, and detection that are challenging if not impossible for traditional robots in a cost-effective manner.