High strain peano hydraulically amplified self-healing electrostatic (HASEL) transducers

An electro-hydraulic actuator, comprising:

• a plurality of actuator cells, each actuator cell comprising
• a deformable shell that defines an enclosed internal cavity,
• a liquid dielectric contained within the enclosed internal cavity,
• a first electrode disposed over a first side of the deformable shell, and
• a second electrode disposed over a second side of the deformable shell;
• wherein a distance between the first and second electrodes decreases from a first reference point on a first reference axis through the enclosed internal cavity to a second reference point on the first reference axis in the absence of a voltage being applied to the first and second electrodes,
• wherein, upon application of the voltage to the first and second electrodes, electrostatic forces between the first and second electrodes progressively draws the first and second electrodes to drive the liquid dielectric along a zipping front in a first dimension such that the deformable shell deforms along a strain axis in a second dimension, the second dimension being orthogonal to the first dimension, further comprising:
• in at least one of the plurality of actuator cells,
• a third electrode at least partially disposed over the first side of the deformable shell, and
• a fourth electrode at least partially disposed over the second side of the deformable shell,
• wherein, in the at least one of the plurality of actuator cells, a center portion of the deformable shell is uncovered by the first, second, third, and fourth electrodes.