Abstract
Conventional actuators based on metal and ceramics face challenges in utilizing them for service and welfare robots, which should work cooperatively with human workers. Dielectric elastomer actuators (DEAs) are a promising alternative to the conventional hard actuators, because they can realize motions which more resemble those of human muscles. Our research aimed at developing a DEA for applications in handling robotic arms and gripper hands for service/welfare robots. To this end, the elements of soft actuator ought to be fabricated and integrated into a large-scale array. Design of the actuator need to be optimized using computational dynamics and Finite Element Analysis (FEA). The application of DEA in robotics is expected to create a drive for the practical realization of reliable and functional DEAs. It could also promote commercialization and tap into the vast potential service/welfare robotic market
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