A Soft Mimic Robotic Arm Powered by Dielectric Elastomer Actuator

Given the great importance of human-robot collaboration (HRC), the development of robotic arms tends to prioritize high flexibility, safety as well as low energy consumption. Dielectric elastomer actuators (DEAs), with their high energy density and lightweight characteristics, present a promising alternative for the design of soft robotic arms suitable for HRC setting. Hence, a soft mimic robotic arm powered by dual cone DEA (DCDEA) driver unit is developed that demonstrates high energy density and low energy consumption. The resultant elaborate DCDEA driver unit exhibits a significant bi-direction actuation stroke with a high load-to-weight ratio up to 1,300, ensuring sufficient mechanical power output for powering the robotic arm. The well-designed efficient transmission mechanism and control system together with DCDEA allow the robotic arm to conduct lifting and twisting action, mimicking the movements of a human arm. During the transportation of a 10 g weight, the robotic arm consumes only ≈35 mJ of energy, while achieving an energy density of 42.1 J kg⁻¹. Encased in soft outer shells, the robotic arm displays full flexibility, high safety, and excellent impact resistance, underscoring its potential as a next-generation soft robotic arm for HRC setting.