@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},
  author = {Yoder, Zachary},
  month_numeric = {12}
}