Wearable hydraulically amplified self-healing electrostatic actuator systems

A wearable actuator system comprising:

• an active layer comprising a plurality of actuators, each actuator comprising:
• a deformable shell that defines an enclosed internal cavity,
• a fluid dielectric contained within the enclosed internal cavity,
• a first electrode disposed over a first side of the enclosed internal cavity,
• a second electrode disposed over a second side of the enclosed internal cavity;
• an interface layer disposed on at least a first side of the active layer, wherein the interface layer is configured to contact a user;
• a fastener, wherein the active layer and the fastener form an enclosed shape having an internal area;
• and
• a control module operably coupled with the active layer and configured to provide a control signal to at least a portion of the plurality of actuators in the active layer,
• wherein a size of the internal area of the enclosed shape is adjustable using the fastener,
• wherein the plurality of actuators forming at least one actuator stack, and
• wherein the at least one actuator stack includes an end cap disposed over each end of the actuator stack,
• wherein the control module is configured to receive a feedback signal generated by at least one of the plurality of actuators and indicating a change in an electrical property of the at least one of the plurality of actuators, the electrical property including at least one of capacitance, resistance, and impedance,
• wherein the control module is further configured to calculate an actual applied pressure based on the feedback signal so received from the at least one of the plurality of actuators and comparing the actual applied pressure to a target applied pressure;
• and
• wherein the control module is further configured to modify the control signal in response to the feedback signal so received to adjust an amount of voltage provided to the at least one of the plurality of actuators such that the target applied pressure is achieved.