Artificial muscle logic devices for autonomous local control

Abstract

Abstract Multifunctional dielectric elastomers possess outstanding characteristics for future developments in soft robotics. When the large actuation stroke is combined with piezoresistive dielectric elastomer switches (DES) new dielectric elastomer logic is enabled that can directly control soft robotic structures. A combination of such totally soft DE electronics with soft structures enables the design of entirely soft and autonomous robots without the need of conventional, stiff electronic components for signal processing and control. We present the possibility of an integration of multifunctional DE electronics for autonomous signal generation using piezoresistive DES and actuator networks. Those networks can resemble soft, artificial central pattern generators (aCPGs) in the form of dielectric elastomer oscillators (DEOs) and simultaneously process signals, control soft DE muscles and store information in the form of DE memory. The robotic demonstrators presented here require only a high-voltage DC supply in order to function. All signal processing and generation is done in the entirely soft structure itself. The presented DE logic demonstrates the possibility to distribute numerous control functions throughout a soft robotic structure and to replace centralized control algorithms by bioinspired, distributed artificial muscle and engineered neuronal networks.