COMSOL modelling of HASEL actuators and their applications in robotic systems

Current and prominent actuation systems used today are limited due to a number of factors including a lack of mechanical flexibility, large system mechanisms, and the inability to integrate safely with biological systems. However, in the novel field of soft robotics, there is a unique liquid-based electroactive polymer actuator (EAP actuator) called the HASEL actuator, that can satisfy these limitations. The HASEL actuator is a versatile actuator, utilizing compliant materials in conjunction with the principles of electrostatic and hydraulic actuation. This study aims to build a model to better understand the system and further explore the versatility of the actuator in practical applications.