Modular multilayered PVC gel soft actuators for novel lightweight humanoid facial robot

Abstract

Electroactive multilayered poly (vinyl chloride) (PVC) gel actuators (MPGAs) have attracted increasing interest in the field of soft robotics. However, they still face problems such as relatively low contraction strain, poor durability, and robustness. Herein, we report a new modular multilayered PVC gel actuator (M-MPGA) based on stainless steel meshed electrodes. The output characteristics of the actuator were notably improved by adjusting the plasticizer content in the gel and optimizing the structural parameters of the meshed anode electrodes. The effect of the number of stacked layers on the performance of the actuator was investigated and a dynamic model was derived for the actuator modular design. Actuator modules with multidirectional degrees of actuation were established and applied to a humanoid facial robot for the first time. The developed actuator with a meshed electrode size of #60 was found to exhibit a high contraction strain of over 20 %, which is almost twice that of the traditional MPGAs with an electrode size of #100. In addition, the fabricated actuator module had a low loss rate (1.152 %), high operating bandwidth (9.7 Hz), fast response (∼45 ms), and exceptional stability (95.24 % retention at 10,000 s actuation) without any distortion of the actuation performance. Furthermore, the developed prototype humanoid facial robot demonstrated the advantages of ultralight weight (754 g), smooth facial expression, and ease of control.