Fabrication and analysis of dielectric-elastomer minimum-energy structures for highly-deformable soft robotic systems

Dielectric-elastomer minimum-energy structures (DEMES) form an emerging class of soft robotic systems. The appropriate materials and methods for rapidly fabricating DEMES prototypes are described. A DEMES component suitable for use in highly-deformable soft robots is presented and analyzed. Combinations of this component into snakelike robots are also presented. Calculations for determining the upper limit of a DEMES´s mechanical work output, electromechanical efficiency, and energy density are described. The scope of the DEMES design-space and future research paths are discussed.