Control of conveyor systems using hydraulically amplified self-healing electrostatic (HASEL) actuators

A system for manipulating moving objects, the system comprising:

• a first actuator configured to selectively expand into contact with a first moving object,
• wherein the first actuator comprises:
• a compliant shell defining an enclosed cavity;
• a dielectric fluid disposed within the enclosed cavity;
• a first electrode disposed on a first side of the compliant shell;
• and
• a second electrode disposed on a second side of the compliant shell opposite the first side.

A system for selectively controlling rotational speed of a conveyor roller, the system comprising:

• at least one conveyor roller;
• at least one pressure roller;
• a drive belt having a first side and a second side, wherein the first side faces the at least one conveyor roller and wherein the second side is in contact with the at least one pressure roller;
• and
• at least one actuator configured to selectively position the first side of the drive belt such that the first side of the drive belt contacts the at least one conveyor roller,
• wherein the actuator comprises:
• a compliant shell defining an enclosed cavity;
• a dielectric fluid disposed within the enclosed cavity;
• a first electrode disposed on a first side of the compliant shell;
• and
• a second electrode disposed on a second side of the compliant shell opposite the first side,
• wherein the actuator is configured to expand when a voltage is applied to the first electrode.