Electroadhesive Electrohydraulic Soft Actuators

Electrohydraulic soft actuators exhibit large deformations and can operate with high speed and efficiency. In this study, we present a preliminary investigation of a multifunctional electrohydraulic soft actuator designed to enhance performance. By incorporating an interdigitated electrode design, the actuator enables both actuation and electroadhesion. Electroadhesion increases the frictional interaction between the device and contacted objects, making it particularly suitable for soft grippers, where adhesion forces improve the holding force. Experimental results demonstrate that the integrated actuator exhibits voltage-controllable actuation similar to traditional devices while also enabling electroadhesion, allowing it to hold an object even with a single actuator. These findings confirm the feasibility of the proposed actuator concept.