@article{ACOME18-SCI-HASEL,
  title = {Hydraulically amplified self-healing electrostatic actuators with muscle-like performance},
  journal = {Science},
  abstract = {Existing soft actuators have persistent challenges that restrain the potential of soft robotics, highlighting a need for soft transducers that are powerful, high-speed, efficient, and robust. We describe a class of soft actuators, termed hydraulically amplified self-healing electrostatic (HASEL) actuators, which harness a mechanism that couples electrostatic and hydraulic forces to achieve a variety of actuation modes. We introduce prototypical designs of HASEL actuators and demonstrate their robust, muscle-like performance as well as their ability to repeatedly self-heal after dielectric breakdown—all using widely available materials and common fabrication techniques. A soft gripper handling delicate objects and a self-sensing artificial muscle powering a robotic arm illustrate the wide potential of HASEL actuators for next-generation soft robotic devices.},
  volume = {359},
  number = {6371},
  pages = {61-65},
  month = jan,
  year = {2018},
  slug = {keplinger18-s-hydraulically},
  author = {Acome, Eric and Mitchell, Shane K and Morrissey, TG and Emmett, MB and Benjamin, Claire and King, Madeline and Radakovitz, Miles and Keplinger, Christoph},
  month_numeric = {1}
}