Fig. 4: Performance of resilient DEAs.
From: Photothermal modulated dielectric elastomer actuator for resilient soft robots
a Dielectric constant and loss of PULM nanocomposites. Error bars are the standard deviation of five independent samples. b Representative area strains achieved by PULM nanocomposite DEAs. Area strains calculated are based on geometric relations from out-of-plane displacements of the buckled electroactive regions. c Representative area strains achieved by PULM15, recycled PULM15 after mechanical damages (cut into pieces) and electrical damage (dielectric breakdown). d Hole observed at the electrode area is attributed to dielectric breakdown. e Optical microscope image of dielectric breakdown site and same site after undergoing the recycling process. f Recycled film after dielectric breakdown can be pulled up to 250% without indicating any holes and damages. g Ashby chart summarizing the healed area strains vs electric fields of various DEA works that can recover its performance after mechanical (solid symbol) or electrical damage (hollow symbol) through self-healing or recycling processes. Actuated radial strains have been approximated to area strains.
