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Customization Options for HASEL Actuators

Actuators made by Artimus Robotics can be easily customized to fit the specific needs of an application. This design flexibility and modularity is a key benefit of HASEL technology. The simple construction of actuators and manufacturing processes make it easy to alter the size and shape of the actuators. Outside of the HASEL, other parts of the actuator can also be customized, such as mounting features, electrical connections, and insulation to allow for easier integration of the actuators with other systems. While nearly everything can be customized, there are limitations to the extent of customization available. Contact our team by emailing info@artimusrobotics.com for feasibility and analysis of HASEL actuators in your specific project.


Characteristics that can be customized:

  1. Style (expanding, contracting, bending, etc.)

  2. Pouch dimensions - width and length for contracting actuators and radius for expanding actuators - A typical contracting actuator pouch size is 5 cm wide and 1.5 cm long. A typical expanding actuator has a 5 cm outer diameter. Some other standard sizes are available and we can make actuators with custom pouch dimensions, but we don’t recommend altering these unless your application has specific requirements that would benefit from a specific pouch width and length.

  3. Number of pouches in series - We can vary the number of pouches in series. By series, we mean the number of pouches in the same sheet or plane of a single actuator.

  4. This factor is most applicable to the contracting or c-series actuators. Adding more pouches in series will increase the length and the stroke of the actuator.

  5. For expanding or e-series actuators, we only rarely customize the number of pouches.

  6. Stack size - this is the number of single actuators that are combined together. A stack of actuators is designed to actuate together and work together as a single unit.

  7. For contracting actuators, adding more in a stack increases the strength for a given displacement. This increase is proportional to the stack size. For example, if 1 actuator can lift 1.5 N at 2 mm stroke, then 2 actuators in the stack would be able to lift 3 N at 2 mm stroke.

  8. For expanding actuators, adding more in a stack increases the displacement for a given force. This increase is not necessarily proportional, but our sales & engineering team can spec out a stack that works for your requirements.

  9. End mounts - Contracting actuators are usually mounted with one end on a fixed point and the other acting to move a load. The fixed end typically includes electrical connections for the actuators. Both end mounts can be customized with shapes and mounting hole patterns to match your existing hardware. Custom electrical connections can be implemented as well.

  10. Materials - The liquid, film, electrodes, and encapsulation used for our actuators have been selected based on their intrinsic properties. However, many other materials exist that could be used instead, or to satisfy different performance requirements. We have a number of materials that have been tested and characterized and we can recommend specific materials based on your requirements. For example, low viscosity oils can be used for an application that prioritizes high actuation speed.

  11. Electrode - Standard electrodes shapes and sizes are available and have been optimized for actuator performance. However, custom electrodes can be designed to meet the specifics of your desired actuator performance.

  12. Skirt - The actuators have excess film material around the pouches. This extra material can be a custom shape to fit your application needs. Additional tabs or mounting features can be included to more easily integrate with your component; for example, tabs for securing the actuator onto a piece of fabric.

  13. Electrical connections - We offer standard electrical connections on our actuators. However, we can modify these to interface with your preferred connectors or the specifics of your integration needs. Keep in mind that the connections must be insulated for high voltage and this can limit how customized they can be.

Contracting Actuator Customizable Characteristics


Expanding Actuator Customizable Characteristics



About Artimus Robotics

Artimus Robotics designs and manufactures soft electric actuators. The technology was inspired by nature (muscles) and spun out of the University of Colorado. HASEL (Hydraulically Amplified Self-healing ELectrostatic) actuator technology operates when electrostatic forces are applied to a flexible polymer pouch and dielectric liquid to drive shape change in a soft structure. These principles can be applied to achieve a contracting motion, expanding motion, or other complex deformations. For more information, please visit Artimus Robotics or contact info@artimusrobotics.com.


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