Sizing a HASEL actuator

Updated: Jan 31

Ensuring a good fit between an Artimus Robotics HASEL actuator and a specific application requires a comprehensive understanding of the application details and specifications. Ensuring a good fit between an Artimus Robotics HASEL linear actuator and a specific application requires us to to understand the linear actuator sizes you might need. Example questions to help this understanding include:

  • What is the purpose of the actuator?

  • How is it operating in the application?

  • What is critical/required and what is a target/goal for the actuator?

  • What is the consequence of failure?

  • What will the actuator be interacting with in the system?


A clear understanding of the above questions increases the likelihood of success of the actuator in the application. However, most important to success is correctly sizing the actuator. HASEL actuators are designed for specific operating conditions, so choosing an ideal size means the actuator is working as intended. To size a linear actuator, the following specifications are required:

  • Force

  • Stroke

  • Available space

  • Actuator response time

  • Actuation frequency

  • Lifetime

  • Duty cycle


The two size-driving specifications are force and stroke. Without these specifications, an actuator cannot be analytically sized. The rest of the specifications are also important for ensuring overall fit, but force and stroke are the most important specifications. Without these, only a trial and error method of linear actuator selection can be used.


Artimus Robotics has a useful tool for communicating application information and specifications. The Application Assistant tool, available on the Artimus Robotics website, walks through the application information and specifications in a step-by-step manner and delivers the information directly to the engineers at Artimus Robotics for review. Once reviewed, Artimus Robotics can recommend an actuator solution for the application. All customers are encouraged to use this tool to efficiently convey specification information to Artimus, and the tool’s prompts ensure that important information is not unintentionally left out of consideration. The tool even allows customers to communicate the importance of different characteristics, for example, if lightweight solutions are preferred over standard solutions. Finally, the tool accepts controls preferences information to help the engineers at Artimus Robotics plan for how the actuator will be controlled. Use the Application Assistant to be confident that the recommended actuator solution is optimized for your application!

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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