Coupling soft electrohydraulic actuators with rigid components for fast and functional robotic systems
This dissertation explores robotic systems that combine soft HASEL actuators with rigid components to improve performance. Chapter 1 introduces hexagonal modules for high-speed, high-strain actuation in reconfigurable arrays. Chapter 2 presents a soft gripper with capacitive self-sensing for robust object handling. Chapter 3 demonstrates a high-speed prosthetic finger with faster actuation and lower energy consumption than motor-driven prosthetics. These systems exceed current state-of-the-art performance, elucidating the benefits and challenges of using HASELs in robotics and showcasing the potential of coupling soft and rigid components for a new generation of robots.
| Author(s): | Yoder, Zachary |
| Year: | 2024 |
| Month: | December |
| Bibtex Type: | Ph.D. Thesis (phdthesis) |
| Address: | Stuttgart, Germany |
| Degree Type: | PhD |
| How Published: | Published in print with the University of Stuttgart Library |
| School: | University of Stuttgart |
| State: | Published |
BibTex
@phdthesis{Yoder24-PHD-Robot,
title = {Coupling soft electrohydraulic actuators with rigid components for fast and functional robotic systems},
abstract = {This dissertation explores robotic systems that combine soft HASEL actuators with rigid components to improve performance. Chapter 1 introduces hexagonal modules for high-speed, high-strain actuation in reconfigurable arrays. Chapter 2 presents a soft gripper with capacitive self-sensing for robust object handling. Chapter 3 demonstrates a high-speed prosthetic finger with faster actuation and lower energy consumption than motor-driven prosthetics. These systems exceed current state-of-the-art performance, elucidating the benefits and challenges of using HASELs in robotics and showcasing the potential of coupling soft and rigid components for a new generation of robots.},
howpublished = {Published in print with the University of Stuttgart Library},
degree_type = {PhD},
school = {University of Stuttgart},
address = {Stuttgart, Germany},
month = dec,
year = {2024},
slug = {yoder24-phd-robot},
author = {Yoder, Zachary},
month_numeric = {12}
}