Development of Underwater Dielectric Elastomer Fiber Actuators

Abstract

Soft underwater robots mimicking motions and structures of aquatic animals are promising systems for exploration and rescue work in the ocean. In soft underwater robots, normally their actuators are individually designed. This approach allows us to use the most appropriate actuator for the desired behavior. On the other hand, it lacks versatility. In this contribution, we introduce dielectric elastomer fiber actuator (DEFA). DEFA is an electrostatic actuator that has a tubular shape, from which high versatility is expected. For example, the fiber actuators could be gathered to mimic skeletal muscles or braided to cover a large area. We fabricated a DEFA and analyzed their actuation characteristics. The result shows the successful implementation of the actuation of tubular structure in water environment.