title: Inflated Soft Actuators with Reversible Stable Deformations.
abstract: Most soft robotic systems are currently dependent on bulky compressors or pumps. A soft actuation method is presented combining hyperelastic membranes and dielectric elastomer actuators to switch between stable deformations of sealed chambers. This method is capable of large repeatable deformations, and has a number of stable states proportional to the number of actuatable membranes in the chamber.
authors.affiliation: Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstraße 3, 70569, Stuttgart, Germany.
authors.forename: Lindsey
authors.initials: L
authors.lastname: Hines
authors.affiliation: Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstraße 3, 70569, Stuttgart, Germany.|Max Planck-ETH Center for Learning Systems, Heisenbergstraße 3, 70569, Stuttgart, Germany.
authors.forename: Kirstin
authors.initials: K
authors.lastname: Petersen
authors.affiliation: Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstraße 3, 70569, Stuttgart, Germany.|Max Planck-ETH Center for Learning Systems, Heisenbergstraße 3, 70569, Stuttgart, Germany.
authors.forename: Metin
authors.initials: M
authors.lastname: Sitti
keywords: actuators; dielectric elastomers; hyperelastic; robots; soft