Dielectric elastomer artificial muscle materials advancement and soft robotic applications

Abstract Conventional robotic systems are built with rigid materials to deal with large forces and predetermined processes. Soft robotics, however, is an emerging field seeking to develop adaptable robots that can perform tasks in unpredictable environments and biocompatible devices that close the gap between humans and machines. Dielectric elastomers (DEs) have emerged as a soft actuation technology that imitates the properties and performance of natural muscles, making them an attractive material choice for soft robotics. However, conventional DE materials suffer from electromechanical instability (EMI), which reduces their performance and limits their applications in soft robotics. This review discusses key innovations in DE artificial muscles from a material standpoint, followed by a survey on their representative demonstrations of soft robotics. Specifically, we introduce modifications of DE materials that enable large strains, fast responses, and high energy densities by suppressing EMI. Additionally, we examine materials that allow variable stiffness and self‐healing abilities in DE actuators. Finally, we review dielectric elastomer actuator (DEA) applications in soft robotics in four categories, including automation, manipulation, locomotion, and human interaction.