HASEL Actuator

Hydraulically Amplified Self-Healing Electrostatic (HASEL) actuators are soft, flexible electrohydraulic devices showing promise for robotics and other applications requiring delicate interaction. Current research focuses on improving their control, particularly through advanced control algorithms like PID control optimized via deep reinforcement learning to achieve stable, high-frequency actuation and minimize hysteresis. This work aims to enhance HASEL actuator performance for applications ranging from wearable robotics and minimally invasive surgery to more precise control in industrial settings. The development of efficient self-sensing capabilities further contributes to their versatility and potential impact.