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Video Demonstration of Self-Sensing

Updated: Mar 9, 2023

HASEL actuators from Artimus Robotics are capable of self-sensing. These actuators are deformable capacitors, so measuring capacitance changes reveals information about the actuation distance, or stroke, during operation. This means that HASEL actuators are smart actuators since they are able to provide real-time information about their state and function. Closed-loop control of the actuator is also possible.

For a detailed explanation of how self-sensing works for HASEL actuators, please see this post.

The self-sensing capabilities of HASEL actuators bring a variety of benefits including:

  • Operation in either force or displacement-controlled methodologies

  • Information about the health or operating conditions of the actuators (example: failed vs operational)

  • Information about the task and environment the actuator is operating in (examples: grip confirmation, actuation confirmation, system confirmation, and user or object behaviors and properties)

Additionally, Artimus Robotics has developed a multi-channel sensing technique that can monitor the capacitance of multiple actuators simultaneously.

The following video demonstrates how a HASEL actuator also works as a sensor. Please contact Artimus Robotics at with any questions regarding self-sensing.

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

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