Rotation Angle Research Articles

Classification of Internal and External Distractions in an Educational VR Environment Using Multimodal Features.

Virtual reality (VR) can potentially enhance student engagement and memory retention in the classroom. However, distraction among participants in a VR-based classroom is a significant concern. Several factors, including mind wandering, external noise, stress, etc., can cause students to become internally and/or externally distracted while learning. To detect distractions, single or multi-modal features can be used. A single modality is found to be insufficient to detect both internal and external distractions, mainly because of individual variability. In this work, we investigated multi-modal features: eye tracking and EEG data, to classify the internal and external distractions in an educational VR environment. We set up our educational VR environment and equipped it for multi-modal data collection. We implemented different machine learning (ML) methods, including k-nearest-neighbors (kNN), Random Forest (RF), one-dimensional convolutional neural network - long short-term memory (1 D-CNN-LSTM), and two-dimensional convolutional neural networks (2D-CNN) to classify participants' internal and external distraction states using the multi-modal features. We performed cross-subject, cross-session, and gender-based grouping tests to evaluate our models. We found that the RF classifier achieves the highest accuracy over 83% in the cross-subject test, around 68% to 78% in the cross-session test, and around 90% in the gender-based grouping test compared to other models. SHAP analysis of the extracted features illustrated greater contributions from the occipital and prefrontal regions of the brain, as well as gaze angle, gaze origin, and head rotation features from the eye tracking data.

Analysis of the third class mechanism using the modeling method in the Mathcad software environment

Purpose. To carry out a kinematic analysis of a flat twelve-link hinged mechanism with three leading links, the basis of which is a structural group of links of the third class of the fourth order with rotational kinematic pairs, which is used in technological equipment. Methodology. The kinematic study of a flat complex mechanism of the third class with three leading links was performed using the mathematical modeling method in the Mathcad software environment. Findings. Using the method of mathematical modeling, the mechanism was presented in the form of free vectors built on its links, for which, taking into account the presence of three leading links, three vector contours were selected, which made it possible to draw up a system of vector equations of their closedness with further solving by a numerical method in the Mathcad software environment. The functions of the rotation angles of the mechanism links, their angular velocities and accelerations were obtained in analytical and graphical form depending on the rotation angle of the first driving crank of the mechanism, the calculation of the angular velocities and accelerations of all the driven links of the mechanism was performed. Originality. A sequence was developed and a kinematic study of a complex planar mechanism of the third class with three leading links was done, the basis of which is a structural group of links of the third class of the fourth order. Schematic modeling of the mechanism with three leading links was performed, a visualization schedule of its kinematic scheme was built, and a valid version of its assembly was obtained from many possible ones, for which the values of kinematic parameters of all its links were determined. Practical value. An analysis of the effect of the kinematic parameters of the three leading links of the third-class mechanism on the movement of the working body of the technological equipment was carried out. From the analysis of the obtained research results for the cycle of the mechanism the reason was found for the incomplete technological stoppage of the link, which should provide the working body of the machine for the required period of time. Recommendations of the elimination were made to identify the deficiency and proposals for the need to improve the drive of this equipment.

Development of a Large-Scale Horizontal Curve Inventory for Safety Analysis Using Open GIS Data

Abstract Horizontal curves are crucial for the safety and mobility of roadways. To enhance the understanding of these curves, transportation agencies are investigating methods to accurately determine their spatial locations, geometric attributes, and conditions within their extensive road networks. Leveraging the widespread availability of Global Positioning System (GPS) and Geographic Information System (GIS) data, significant advancements have been made in developing automated algorithms that identify horizontal curves from GPS trajectories and GIS basemaps. This study introduces a novel dataset—the Horizontal Curve Inventory—that encapsulates detailed features of horizontal curves. We employed a modified automated cycle regression algorithm designed for large-scale road network analysis to extract horizontal curve data. This method was applied nationally to process an expansive network utilizing open-source GIS basemaps, encompassing over 300,000 miles across interstate, U.S. highway, and state highway systems. The inventory includes comprehensive data on curve radius, rotation angle, start and end point coordinates, and the curve’s center points. These data are essential for supporting safety research pertaining to road alignment. Our approach demonstrated robust performance across various open GIS data sources and provides the first accurate, efficient, and comprehensive inventory of horizontal curves for all major highway systems in the United States. The dataset is available at http://aichengbo.com/research/national-horizontal-curve-inventory/.

Transition flight of a concept of lifting-wing quadcopter

Abstract This paper presents the concept of a lifting-wing quadcopter unmanned aerial vehicle (UAV), a vertical take-off and landing vehicle (VTOL) with a rear wing, a canard at its front and four propellers. The aerodynamic surfaces are designed so that their mounting angle can be adjusted and fixed before flight, so its performance in transition flight can be studied for a combination of wing and canard mounting angles. A dynamic model using rigid-body equations of motion is presented, which is used to compute the transition flight trajectory from hover to cruise in horizontal flight. The trim conditions were computed for a range of fixed wing and canard mounting angles to study the effects of these variables on transition trajectory parameters such as required power, body pitch angle and propeller rotation speeds as a function of flight speed. Furthermore, a transition flight control algorithm is presented, which has a cascaded PID controller and a reference scheduler to switch between the proper reference states, controls and control allocation matrix. Finally, the transition control algorithm of the conceptual UAV is numerically simulated. Results show that this configuration can perform a fast and smooth transition from hover to cruise flight using the proposed flight control algorithm, substantially reducing required propulsive power in cruise of up to 64%. The application of the control algorithm made notable a transition manoeuver that consists of negatively inclining the aircraft at a negative pitch angle, initially at high intensity, and as the final cruising speed approaches, the inclination is attenuated until the equilibrium pitch angle is reached. Simultaneously with the negative inclination of the pitch angle, there is a slight drop in altitude, which is quickly resumed as the trajectory develops until the final cruising speed. Lastly, this aircraft configuration can be widely used in applications where performance gains in operations currently carried out by multicopters, which cover large distances and need long flight time, would bring great operational advantages.

Effects of Foot Orthoses and Kinesio Tape on Spatiotemporal and Kinetic Gait Parameters during Running in Individuals with Flatfoot

Flatfoot is a common condition that influences gait and can cause discomfort for patients under higher loaded condition, such as running. Identifying the most effective treatment necessitates a comprehensive analysis of each therapy's impact on gait. Our research delved into the effects of Foot Orthosis and Kinesio Tape on the spatiotemporal and kinetic aspects of gait in individuals with flatfoot during running. Twenty female rearfoot strike runners with flatfoot participated in the running tasks at 3.3±5% m/s on the Zebris Medical GmbH treadmill. Gait data were collected under three conditions: shoe (A), shoe with Foot Orthoses (B), and shoe with Kinesio Tape (C). A one-way repeated measures ANOVA was employed to analyzed the gait parameters during the stance phase. Under conditions B and C, the foot rotation angle significantly decreased compared to condition A. Additionally, in condition B, it was significantly lower than in condition C. Under conditions B and C, the maximum force and pressure of forefoot significantly increased, whereas it in the midfoot significantly decreased, relative to condition A. Foot Orthosis and Kinesio Tape both effectively diminished peak midfoot pressure during running. Additionally, Foot Orthosis surpassed Kinesio Tape in enhancing foot stability and function throughout the running. These findings offered valuable insights for the selection of intervention measures for patients with flat feet during running.

The effect of knee braces on knee joint kinematics at different exercise speeds

ABSTRACT This study aims to investigate the influence of a new semi-rigid knee joint braces on kinematics using the Opti-knee knee joint kinematic analysis system at various exercise speeds. Twenty-four healthy young male adults were recruited for this study. Participants were randomly assessed while wearing and not wearing knee brace at four different speeds on a treadmill: normal walking (3.6 km/h), brisk walking (5.4 km/h), jogging (9 km/h), and moderate intensity running (10.8 km/h). Six degrees of freedom kinematic data from the knee joint were collected. Paired t-tests were conducted to calculate the kinematic differences. At speeds of 3.6 km/h and 5.4 km/h, wearing the knee brace led to reduced knee joint mobility in anterior-posterior translation, superior-inferior translation, internal-external rotation, and flexion-extension angles during the stance phase (P < 0.05). At 9 km/h, wearing the brace reduced knee joint internal-external rotation and flexion-extension mobility during the stance phase (P < 0.05). At 10.8 km/h, wearing the brace reduced knee joint flexion-extension mobility during the stance phase (P < 0.05). Wearing brace has significant influence on knee kinematics at four speeds, and the effect of brace varies with the speed of movement.

Research on efficient matching method of coal gangue recognition image and sorting image

When the coal gangue sorting robot sorts coal gangue, the position of the target coal gangue will change due to belt slippage, deviation, and speed fluctuations of the belt conveyor. This will cause the robotic to fail in grasping or miss grasping. We have developed a solution to this problem: the IMSSP-Net two-stage network gangue image fast matching method. This method will reacquire the target gangue position information and improve the robot’s grasping precision and efficiency. In the first stage, we use SuperPoint to guarantee the scene adaptability and credibility of feature point extraction. We have enhanced Superpoint’s ability to detect feature points further by using the improved Multi-scale Retinex with Color Restoration enhancement algorithm. In the second stage, we introduce SuperGlue for feature matching to improve the robustness of the matching network. We eliminated erroneous feature matching point pairs and improved the accuracy of image matching by adopting the PROSAC algorithm. We conducted image matching comparison experiments under different object distances, scales, rotation angles, and complex conditions. The experimental platform adopts the double-manipulator truss-type coal gangue sorting robot independently developed by the team. The matching precision, recall, and matching time of the method are 98.2%, 98.3%, and 84.6ms, respectively. The method can meet the requirements of efficient and accurate matching between coal gangue recognition images and sorting images.

Comparison of gait deviation index (GDI) and gait variability index (GVI) measured by marker-based and markerless motion capture systems in children with cerebral palsy (CP)

BackgroundThe Gait Deviation Index (GDI) is a metric clinicians use to assess overall gait pathology in children with cerebral palsy (CP) by comparing kinematic data to a normative sample. The Gait Variability Index (GVI) is a related metric that quantifies the variability in spatio-temporal variables during gait. The GDI and GVI have been verified using marker-based motion capture approaches, but video-based markerless motion capture has not been compared using these tools in children with CP. Research questionDo GDI and GVI scores differ when measured using markerlessTheia3D and a marker-based approach between the more and less affected legs in children with CP? MethodsFifteen children with CP (GMFCS levels I-IV) and 24 typically developing children aged 6–18 years were recruited for this study. Overground walking was performed at a self-selected pace while the pelvis and lower limb kinematics were simultaneously recorded using both motion capture systems. Differences in GDI and GVI scores when considering the effect of system and limb impairment were analyzed using two-way repeated-measures ANOVAs. ResultsGDI scores were 6.9 points lower (p < 0.05) when measured using Theia3D compared to the marker-based approach and 6.8 points lower (p < 0.05) in the more affected limbs than in the less affected limbs. These GDI score differences are considered clinically significant. No differences were identified in GVI scores between systems or limb impairment. Differences in kinematic measurements were found in children with CP, including pelvic tilt, hip flexion/extension, hip rotation, and foot progression angle, where root mean square differences between systems exceeded 10°. SignificanceTheia3D can adequately measure variability in spatio-temporal gait parameters for quantifying GVI scores in children with CP compared to the marker-based approach. However, caution is needed when quantifying lower limb kinematics and interpreting GDI and GVI scores using Theia3D in children with CP.

Analysis of changes in lower limb joints of athletes during the movement of wild horses’ mane parting based on biomechanics

In the era of fitness, more and more young people are familiar with Taijiquan, a kind of physical fitness exercise. By conducting biomechanical analyses of the movements of Taijiquan, it is possible to exercise the body better. Numerous techniques in Taijiquan make it difficult to study each individually. Therefore, this paper studied the movement of “wild horses’ mane parting” in terms of biomechanics by analyzing the joint angle, stiffness, and impulse during this movement. Twenty male athletes were selected as subjects and divided into a professional group and a beginner group according to their training periods. High-speed cameras were used to shoot the “wild horses’ mane parting” movement. The angles of lower limb joints in these athletes were measured to calculate joint impulse and stiffness. The results showed that, compared with the professional group, there were significant differences in the adduction and abduction angle and the internal and external rotation angle between the beginner group and the professional group in the single-leg support movement stage (P&lt; 0.05). There were also significant differences in joint impulse and stiffness (P&lt; 0.05). Compared with beginners, long-term professional practitioners can make their movements more standardized. By comparing movements and data analysis, beginners can make their movements more standardized when practicing Taijiquan and avoid the risk of sports injury. The novelty of this article lies in the use of high-speed cameras to capture athletes’ movements, enabling accurate analyses of their joints and providing effective references for precise training.

Different Positions of Weightbearing CT Images Can Influence the Hindfoot Alignment Evaluation Using 2-Dimensional Methodology.

Three-dimensional weightbearing CT (WBCT) has been widely used to assess foot and ankle alignment. However, most current measurement methods are based on 2-dimensional concepts-distance, long axis, angulation, etc-and are sensitive to changes in orientation of the WBCT images. This study demonstrated how changes in positioning of the image can significantly influence the evaluation of hindfoot alignment. WBCT scans of 10 feet without deformities were used. In the horizontal view, the long axis of the foot image was aligned to a neutral position and then rotated 5, 10, 15, and 20 degrees both internally and externally to simulate malposition. The Calcaneal Moment Arm (CMA) was measured by 2 investigators independently in the above positions. An intraclass correlation coefficient (ICC) model was used to assess the intra- and interobserver reliabilities. The correlation between the CMA and the rotation angle of the foot images was analyzed using linear regression. The CMA measurements demonstrated that internal rotation of the image changed the neutral hindfoot into valgus, whereas external rotation led to varus. A 1-degree internal or external rotation of the image correlated with 0.48 (±0.03) mm increase or decrease in the modified WBCT-CMA value (P < .0001, R2 = 0.6406). This study demonstrated that although 3D WBCT provides the ability to observe the foot from different perspectives, current alignment evaluation tools are limited to 2 dimensions. Therefore, positioning the WBCT images in a consistent orientation is important to generate correct data.

Magneto-optical properties of heavily Fe-doped GaAs: a density functional approach.

The magneto-optical properties of heavily iron-doped GaAs are investigated. Complex permittivity, optical conductivity and absorption coefficients are mainly discussed using spin-polarized electronic band structures close to the Fermi energy level. Furthermore, prominent magneto-optical properties in visible light and ultraviolet regions, including magnetic circular dichroism as well as complex Kerr and Faraday rotation angles, are presented and discussed. A density functional approach corroborated by some experimental results indicates that GaAs with 25% Fe dopants either in As or Ga sites is a promising ferromagnetic material and a useful platform for optoelectronic and spintronic device applications.

Construction of a prototype of the basic module of a scalable robotic system for simulation of composite surfaces for dynamic tests

The authors of the article developed a mathematical model of Stewart platform management. The angles of rotation of the servo shafts were obtained when setting various laws of motion of the mobile platform, in matrix mode. The hardware part of the prototype of the basic module of a scalable robotics system for modeling composite surfaces for dynamic tests was developed. The results of calculations of the maximum permissible load on the shafts of servos are presented. The CubeIDE settings for programming the STM32 microcontroller are given. The results of software development for the control of this prototype were obtained, namely, a library for controlling 6 servo drives under driver control was written. The problems that may arise during the above-described developments by future developers are considered, solutions to these problems are obtained. Detailed design features of this prototype are described, the control code of the servo drive is given; steps for further development of the final robotic system are considered

Magic angle of Sr2RuO4 : Optimizing correlation-driven superconductivity

Understanding of unconventional superconductivity is crucial for engineering materials with specific order parameters or elevated superconducting transition temperatures. However, for many materials, the pairing mechanism and symmetry of the order parameter remain unclear: reliable and efficient methods of predicting the order parameter and its response to tuning parameters are lacking. Here, we investigate the response of superconductivity in Sr2RuO4 to structural distortions via the random phase approximation (RPA) and functional renormalization group (FRG), starting from realistic models of the electronic structure. Our results suggest that RPA misses the interplay of competing fluctuation channels. FRG reproduces key experimental findings. We predict a magic octahedral rotation angle, maximizing the superconducting Tc and a dominant dx2−y2 pairing symmetry. To enable experimental verification, we provide calculations of the phase-referenced Bogoliubov Quasiparticle Interference imaging. Our work demonstrates a designer approach to tuning unconventional superconductivity with relevance and applicability for a wide range of quantum materials. Published by the American Physical Society 2024

Polarization-multiplexed zoom Moiré metalens for edge-enhanced imaging

Optical image processing with high operational efficiency has been applied as a pre-processing imaging system for image recognition. Edge-enhanced imaging as a high-efficiency optical image processing method is of great significance for feature extraction and target recognition. However, the edge-enhanced imaging system based on the 4F system and the spatial filter transforms mainly work under coherent light illumination conditions, without continuously zooming to track the spatial position of the target. Here, we demonstrate a polarization-multiplexed zoom Moiré metalens for edge-enhanced imaging under incoherent light illumination. Metalens is designed to generate polarization-dependent optical transfer functions that produce edge-enhanced images with a resolution of 1.2 µm by digital subtraction. Furthermore, continuous zoom at the range of 1-2× is realized by constructing a Moiré metalens composed of cascaded metasurfaces. The cascaded metasurfaces consist of two center-aligned dielectric metasurfaces, each with a Moiré phase sensitive to the rotation angle. By rotating the metasurface, the phase profile of the cascaded metasurfaces changes, and the effect of continuous zoom is realized. The focal length can be actively changed from 38 µm to 77 µm with the focusing efficiency of 50.3%. This metalens can be applied to machine vision, microscopic imaging, and promotes the development of multi-functional integrated optical systems.

Annealing effect of Ca3TaGa3Si2O14 catangasite crystals on their optical activity

The spectral dependences of transmission and absorption in the wavelength range of 200–2500 nm were measured for Ca3TaGa3Si2O14 crystals cut perpendicular to the optical axis in the initial state (without annealing) and after isothermal annealing in vacuum and in air. It was found that annealing in vacuum leads to a decrease, and annealing in air leads to an increase in the intensity of absorption bands. A spectrophotometric method for measuring and calculating the specific rotation angle ρ of the plane of polarization of light in gyrotropic crystals from the transmission coefficient spectra at different angles between the polarizer and the analyzer is considered. The transmission spectra were normalized in order to eliminate shifts in the spectra associated with measurement features. Spectral dependences of the values of ρ for all three samples, which are approximated by the extended Drude formula, are obtained; the influence of the annealing atmosphere on the values of the coefficients of this formula is established.

Ferroelectric Smectic C Liquid Crystal Phase with Spontaneous Polarization in the Direction of the Director.

In the previous study, the existence of an unidentified ferroelectric smectic phase is demonstrated in the low-temperature region of the ferroelectric smectic A phase, where the layer spacing decreases with decreasing temperature. In the present study, the phase is identified by taking 2D X-ray diffraction images of a magnetically oriented sample while allowing it to rotate and constructed a 3D reciprocal space with the sample rotation angle as the third axis for the whole picture of the reciprocal lattice vectors originating from the smectic structure. Consequently, circular diffraction images are obtained when the reciprocal lattice vectors are evenly distributed on the conical surface at a certain inclination angle in the reciprocal space. This result provides clear evidence that the phase in question is smectic C. The polarization properties also showed that the observed smectic C phase has spontaneous polarization in the direction parallel to the director and is identified as ferroelectric smectic C. These results provide a new type of classification for liquid crystalline phases that has been established over many years and is a significant contribution to the basic science of soft matter research.

CSSF-BL360: Color Segmentation-Based Bolt Localization and 0~360° Full-Scale Loosening Angle Detection in Single-Frame Images

Introduction: Bolt loosening detection plays a crucial role in ensuring structural safety. Existing research using deep learning methods has the drawback of being applicable to limited scenarios and typically requires at least two frames of images for comparison in subsequent angle detection, with a limited range of detectable angles. Method: In this study, a color segmentation method was first used to separate the red square gasket placed between the bolt and the base, thereby locating the bolt area; then, the image was perspective-corrected using the four corners of the red square gasket; finally, the red mark bars on the bolt and base were separated using the same color segmentation method, and the geometric moments of the connected domains of the mark bars were processed, combined with vector processing techniques, to achieve quantified detection of bolt loosening angles within 0~360 degrees using a single frame image. In the verification experiments, 150 images were collected from different shooting angles and distances, and the bolt areas to be tested were located using the color segmentation method, all with an IOU (Intersection over Union) greater than 0.9317. Subsequent experiments set different variables, including different shooting distances, bolt loosening angles, perspective angles, lighting conditions, bolt types, and image rotation angles. Result: The results demonstrated that the method presented in this study could accurately detect bolt loosening angles in multiple scenarios. Conclusion: Hence, it is capable of measuring loosening angles within the range of 0~360 degrees using only a single frame image. result: In the verification experiments, 150 images were collected from different shooting angles and distances, and the bolt areas to be tested were located using the color segmentation method, all with an IOU(Intersection over Union) greater than 0.9317. Subsequent experiments set different variables, including different shooting distances, bolt loosening angles, perspective angles, lighting conditions, bolt types, and image rotation angles.

Simulation analysis and experimental research on static performance of water-hydraulic pressure difference control valve

Many hydraulic tools, like hydraulic cylinders and hydraulic artificial muscle joints are operated by adjusting pressure differences between different zones. Typically, the method employed to change the pressure difference is establishing hydraulic bridges and adjusting liquid resistance. While effective, this method's drawback is complex structures. To address this issue, a water-hydraulic pressure difference control valve, integrating two hydraulic bridges, was designed. The static performances including the output pressure difference, the flow rate and the force acting on the valve core were analyzed using AMESim and computational fluid dynamics simulations. Based on the simulation results, a prototype of voice coil motor direct drive pressure difference control valve was manufactured and the corresponding experiments were carried out. The computational fluid dynamics simulation results show that the internal leakage and the through-flow capacity difference between throttling grooves affect the flow field characteristics of the valve. When the pump pressure is 3 MPa and the valve opening is at the middle position, the internal leakage increases the flow rate from 2.25 L/min to 2.38 L/min, and the through-flow capacity difference reduces the control port pressure from the theoretical analysis of 1.5 MPa–1.41 MPa. Furthermore, combined with the analysis of the external liquid resistance, the AMESim model of the pressure difference control valve is modified. When the pump pressure is 3 MPa, the pressure difference and flow rate average deviations between the modified AMESim model and the experiment are 0.021 MPa and 0.048 L/min. Finally, a rotational angle experiment for a water hydraulic artificial muscle joints showed satisfactory control effects, suggesting the valve's application in controlling hydraulic tools and actuators.

Field Programmable Gate Array (FPGA) Implementation of Parallel Jacobi for Eigen-Decomposition in Direction of Arrival (DOA) Estimation Algorithm

The eigen-decomposition of a covariance matrix is a key step in the Direction of Arrival (DOA) estimation algorithms such as subspace classes. Eigen-decomposition using the parallel Jacobi algorithm implemented on FPGA offers excellent parallelism and real-time performance. Addressing the high complexity and resource consumption of the traditional parallel Jacobi algorithm implemented on FPGA, this study proposes an improved FPGA-based parallel Jacobi algorithm for eigen-decomposition. By analyzing the relationship between angle calculation and rotation during the Jacobi algorithm decomposition process, leveraging parallelism in the data processing, and based on the concepts of time-division multiplexing and parallel partition processing, this approach effectively reduces FPGA resource consumption. The improved parallel Jacobi algorithm is then applied to the classic DOA estimation algorithm, the MUSIC algorithm, and implemented on Xilinx’s Zynq FPGA. Experimental results demonstrate that this parallel approach can reduce resource consumption by approximately 75% compared to the traditional method but introduces little additional time consumption. The proposed method in this paper will solve the problem of great hardware consumption of eigen-decomposition based on FPGA in DOA applications.

Optimized design and performance testing of hydraulic electrostatic actuator

ABSTRACT Hydraulic electrostatic actuators have become a research hotspot for their inherent flexibility and safety of human-machine interaction. This paper aims to combine the characteristics of dielectric elastomers and fluid actuators, enhancing the dielectric constant and breakdown field strength by modifying Al2O3 on the surface of nanostructured BaTiO3 and in order to develop a hydraulic electrostatic actuator with silicone rubber as the matrix material. Single-factor experiments were firstly conducted to confirm the range of three factors affecting the actuation strain of the actuator: BaTiO3@Al2O3 content, thickness of the silicone rubber elastomer film, and pre-stretching ratio coefficient. The response surface methodology was used to study the interactive influence of the above three influencing factors on the actuation strain. It was obtained that A has an insignificant influence on the actuation strain, AB has a significant influence on the actuation strain, and B, C, AC, and BC have a highly influence on the actuation strain. Maximizing actuation strain as the optimization objective yielded the combination results of each factor: BaTiO3@Al2O3 content of 2.57%, thickness of 0.60 mm, and pre-stretching ratio coefficient of 2.50. Actuation strain tests were conducted with optimized parameters under no-load. The experimental results of the actuation strain test show that the relative error between the test value and the model prediction value of 16.47% is less than 5%, and the optimization model results are reliable. The optimized hydraulic electrostatic actuator was tested for actuation strain and electrical performance under different loads. The experiment showed that the maximum actuation strain of the hydraulic electrostatic actuator was 17.20% under a load of 100 g. The critical breakdown current of the actuator ranged from 115 μA to 130 μA, and the maximum electromechanical conversion efficiency of the actuator under different loads was 67.93%. Finally, a joint actuating device was developed based on the structure of the actuator, amplifying the output displacement of the actuator to 30 mm, and the linear displacement of the soft electro-fluid actuator can be converted into a 20° rotation angle through the gear steering mechanism, thus validating the effectiveness of the hydraulic electrostatic actuator.