Hydraulically amplified self-healing electrostatic (hasel) transducers

An electro-hydraulic actuator, comprising:

• a deformable shell defining an enclosed internal cavity;
• a liquid dielectric contained within the enclosed internal cavity;
• a first electrode disposed over the deformable shell adjacent to a first side of the enclosed internal cavity;
• and
• a second electrode disposed over the deformable shell adjacent to a second side of the enclosed internal cavity,
• wherein the first and second electrodes are configured such that an electrostatic force between the first and second electrodes, upon application of a voltage to one of the first and second electrodes, draws the first and second electrodes towards each other to displace the liquid dielectric within the enclosed internal cavity,
• wherein the first electrode includes
• a first inner layer disposed adjacent to a first side of the deformable shell, and
• a first outer layer disposed adjacent to the first inner layer and opposite the first side of the deformable shell, and
• wherein the first outer layer exhibits different mechanical and electrical properties from the deformable shell.

A method of producing a hydraulically amplified self-healing electrostatic (HASEL) actuator, comprising:

• providing a deformable shell defining an enclosed internal cavity, the deformable shell including a first side and a second side opposing the first side;
• a liquid dielectric contained within the enclosed internal cavity;
• applying a first electrode to the first side of the deformable shell;
• applying a second electrode disposed to the second side of the deformable shell;
• disposing a first outer layer adjacent to the first electrode and opposite the deformable shell;
• and
• disposing a second outer layer adjacent to the second electrode and opposite the deformable shell,
• wherein the first and second outer layers exhibit different mechanical and electrical properties from the deformable shell.