Fully-printed, stretchable arrays of silicone-based zipping actuators

Abstract

We present fully-printed, stretchable, hydraulically-amplified mm-scale zipping electrostatic actuators for both quasi static and high frequency actuation. Inkjet printing of silicones, stretchable conductors and sacrificial materials enables high design flexibility of both actuators and array configurations. The 5 mm wide actuators generate displacement and forces well above haptic perception threshold values from DC to 200 Hz, as shown with user tests. Parallel fluid filling combined with independent sealing of each pouch enables arrays of self-contained fluidic actuators with no cross-talk. This work enables customizable wearables for realistic cutaneous haptic feedback.