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High voltage electronics products from Artimus Robotics feature high voltage amplifiers with integrated high voltage power supplies. For those less familiar, the difference between a high voltage amplifier and a high voltage power supply can be nuanced. These devices have subtle differences in terms of their accepted industry definitions. A high voltage power supply typically generates a steady state DC output voltage. Consider this a ‘set it and forget it’ output; generally, it is not varied by varying an input voltage. Thus, a high voltage power supply cannot quickly respond to changes in input voltage. A high voltage amplifier, in contrast, takes a low voltage input signal and replicates that at the output at a higher voltage. These are much more capable devices than just a power supply since they can be programmed to have a variable output depending on the input signal. High voltage electronics products from Artimus Robotics uniquely combine the above functionalities into a single device. A high voltage power supply is used to generate a fixed high voltage rail, and then switches are used to distribute charges from the rail to the output(s). This output voltage can be varied by adjusting the conductivity of the high voltage switches using low voltage input signals, and so the output voltage can be a function of time and can be adjusted to the full scale, 0-100%, of the rail voltage. Thus, an amplifier is created from just one high voltage power supply and a set of switches (high voltage amplifier with integrated high voltage power supply). Additional switches can be connected to the high voltage rail to create a multichannel high voltage electronic module. The key benefits of this technique are: This method shifts the dynamic requirements from the high voltage source to the high voltage switches. The result is a smaller, less expensive, and less complex electronic solution compared to a very dynamic high voltage source. Additionally, this topology can be easily scaled to many independent outputs (or channels) by adding more switches to the system while using only one centralized high voltage source (power supply). Applications that benefit from multichannel control include electroactive polymers like dielectric elastomers and HASELs, and other electrostatic-based applications such as electrolaminates, electropneumatics, electrohydrodynamics, electrostatic chucks, piezoelectrics, electrophotography, electrospinning, electrophoresis, electrorheology, electrostatic flocking, corona charging, MEMS, mass spectrometry, electron beam steering, and ion beam steering. Want to learn more about high voltage electronics development efforts? Contact Artimus Robotics at info@artimusrobotics.com. About Artimus Robotics Artimus Robotics designs and manufactures soft electric actuators and high voltage control electronics. 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.

High voltage electronics products from Artimus Robotics feature high voltage amplifiers with integrated high voltage power supplies. These products include integrated control modules that offer digitally programmable arbitrary waveforms at each output. This approach is typically a more cost-effective solution compared to one amplifier per channel, and similarly, offers a more compact and integrated design. Furthermore, it is often easier to control with feedback, patterning, or synced operation. High voltage electronics products from Artimus Robotics have the capability to offer multichannel control (independent control of each output linearly or nonlinear from 0-100%) using only one high voltage power supply. These power supplies are easy to control and enable nearly arbitrary patterning and synchronization of each output channel. The video below demonstrates the multichannel capabilities driving HASEL electrostatic actuators with independent control of each actuator from one high voltage electronics module. Applications that benefit from multichannel control include electroactive polymers like dielectric elastomers and HASELs, and other electrostatic-based applications such as electrolaminates, electropneumatics, electrohydrodynamics, electrostatic chucks, piezoelectrics, electrophotography, electrospinning, electrophoresis, electrorheology, electrostatic flocking, corona charging, MEMS, mass spectrometry, electron beam steering, and ion beam steering. Want to learn more about high voltage electronics development efforts? Contact Artimus Robotics at info@artimusrobotics.com. About Artimus Robotics Artimus Robotics designs and manufactures soft electric actuators and high voltage control electronics. 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.

High voltage electronics products from Artimus Robotics feature high voltage amplifiers with integrated high voltage power supplies. These products also include integrated control modules that utilize PID control methods to offer digitally programmable arbitrary waveforms. Real-time control using digital signals is a commonly requested capability of high voltage electronics products. Traditional analog control using knobs and dials (found on many competing products) requires manual input, which limits the real-time control capabilities, especially for applications in remote environments. Furthermore, analog interfaces are cumbersome for multi-channel systems where many discrete outputs must be programmed simultaneously. High voltage electronics from Artimus Robotics include integrated microcontrollers that are digitally programmable via serial communication. Using the Artimus Application Programming Interface (API), users can prescribe unique voltage profiles (as functions of time) to each output channel independently. This programmability allows the user to provide real-time control signals to the power supplies, which can be synchronized to each other or to an external sensor. Voltage regulation of the output of each channel is accomplished through real-time feedback and a tuned proportional-integral-derivative (PID) controller. Examples of arbitrary waveforms are demonstrated using an actuator that exhibits proportional control (stepped motions) in the videos below. An additional demonstration of real-time control can be found in the charge control techniques video which is explained in this blog post. Artimus is constantly striving for user-friendly interfaces and control software, which is why Python is the standard programming language for these devices. However, other languages are compatible if desired. Additionally, example Python scripts are available upon request to help customers quickly get started with the basics. Want to learn more about high voltage electronics development efforts? Contact Artimus Robotics at info@artimusrobotics.com. About Artimus Robotics Artimus Robotics designs and manufactures soft electric actuators and high voltage control electronics. 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.

High voltage electronics products from Artimus Robotics feature high voltage amplifiers with integrated high voltage power supplies. These specialized high voltage amplifiers are turnkey products with integrated multichannel control modules (independent control of each output linearly or nonlinear from 0-100%), portable power sources (battery), serial API communication with control of charge/discharge rates, digital control, programmable waveforms, and variable voltage outputs. One attractive capability of these products is the ability to reverse the polarity of the high voltage and the ground leads between cycles. Figure 1: Reversing polarity Reversing which lead is high voltage and which is ground between cycles offers a compelling benefit for electrostatic actuators like HASELs. Reversing polarity between cycles reduces the effects of residual charges stored in the composite dielectric structure (charge retention) and enables more consistent performance from cycle to cycle. Reversing polarity, where the poles alternate between high voltage and ground each cycle, is different from bipolar operation. Bipolar means the voltage alternates between positive voltage and negative voltage each cycle. For example, if the high voltage amplifier is providing 10 kV, bipolar operation would alternate between +10 kV and -10 kV. Compare this with reversing polarity, which is alternating +10 kV and GND. Figure 2: Bipolar operation Reversing polarity in high voltage electronics is applicable to not only electroactive polymers like dielectric elastomers and HASELs, but other electrostatic-based applications such as electrolaminates, electropneumatics, electrohydrodynamics, electrostatic chucks, piezoelectrics, electrophotography, electrospinning, electrophoresis, electrorheology, electrostatic flocking, corona charging, MEMS, mass spectrometry, electron beam steering, and ion beam steering. Want to learn more about high voltage electronics development efforts? Contact Artimus Robotics at info@artimusrobotics.com. About Artimus Robotics Artimus Robotics designs and manufactures soft electric actuators and high voltage control electronics. 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.

High voltage electronics products from Artimus Robotics feature high voltage amplifiers with integrated high voltage power supplies. These integrated power sources can utilize rechargeable batteries to offer completely untethered portability for mobile applications. Many high voltage electronics products advertise “portable” as a benefit but these often still require a wall adapter power source to operate. This definition of “portable” to mean “can be moved between uses but must be plugged in to operate” is not useful to the many mobile applications that need untethered electronics. High voltage electronics products from Artimus Robotics all meet this definition of portable and many of the lower power models use a rechargeable battery as a power source. This battery power allows mobile applications to operate completely untethered. A battery-powered, compact and lightweight, and lower cost than a lab scale benchtop high voltage power supply is beneficial to not only electroactive polymers applications like dielectric elastomers and HASELs, but also to other electrostatic-based applications such as electrolaminates, electropneumatics, electrohydrodynamics, electrostatic chucks, piezoelectrics, electrophotography, electrospinning, electrophoresis, electrorheology, electrostatic flocking, corona charging, MEMS, mass spectrometry, electron beam steering, and ion beam steering. For these applications and many others, Artimus Robotics offers a turnkey high voltage amplifier with an integrated control module and can also include an integrated rechargeable battery for fully untethered operation. Want to learn more about high voltage electronics development efforts? Contact Artimus Robotics at info@artimusrobotics.com. About Artimus Robotics Artimus Robotics designs and manufactures soft electric actuators and high voltage control electronics. 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.

Mike Doherty, former CEO of EMCO High Voltage Corporation and VP at XP Power, has joined Artimus Robotics to support the development of high voltage amplifiers, high voltage power supplies, and other specialty high voltage electronics. As a subject matter expert in the field of high voltage power electronics with over 40 years of design, manufacturing, and leadership experience, Mike will add valuable skills and insights to continuing the development of Artimus Robotics’ high voltage electronics products. The current high voltage electronics products from Artimus Robotics are turnkey modules with integrated multichannel control (independent control of each output linearly or nonlinear from 0-100%). The high voltage amplifiers have portable power sources, they are compact and lightweight, and they have programmable waveforms. Mike will support the productization and cost reduction efforts of these products and the development of new features such as bipolar outputs, regulated outputs, and capacitive sensing. Want to learn more about HV electronics development efforts? Contact Artimus Robotics at info@artimusrobotics.com. About Artimus Robotics Artimus Robotics designs and manufactures soft electric actuators and high voltage control electronics. 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.

High voltage electronics products from Artimus Robotics feature high voltage amplifiers with integrated high voltage power supplies. These specialized high voltage amplifiers are turnkey products with integrated multichannel control modules (independent control of each output linearly or nonlinear from 0-100%), portable power sources (battery), serial API communication with control of charge/discharge rates, digital control, programmable waveforms, and variable voltage outputs. Current efforts are focused on the productization and cost reduction of these products and the development of new features such as bi-polar outputs, load-regulated outputs, capacitive sensing, four quadrant with linear through zero, and compatibility with resistive or conductive loads. These high voltage amplifiers with built-in high voltage power supplies were originally developed to drive and control HASEL electroactive polymer actuators from Artimus Robotics. However, a high voltage low power module that is portable, compact and lightweight, and lower cost than lab scale benchtop high voltage power supplies is applicable to not only electroactive polymers like dielectric elastomers and HASELs, but other electrostatic-based applications such as electrolaminates, electropneumatics, electrohydrodynamics, electrostatic chucks, piezoelectrics, electrophotography, electrospinning, electrophoresis, electrorheology, electrostatic flocking, corona charging, MEMS, mass spectrometry, electron beam steering, and ion beam steering. Want to learn more about high voltage electronics development efforts? Contact Artimus Robotics at info@artimusrobotics.com. About Artimus Robotics Artimus Robotics designs and manufactures soft electric actuators and high voltage control electronics. 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.

Introduction Artimus Robotics offers a new class of haptic actuators that provide controllable and organic motion for realistic haptic feedback across a wide range of frequencies. Touch perception is an integral part of how people interact with the physical world. As a result, simulating touch feedback with haptic technologies has become an important component of modern electronic devices. Figure 1. A) Compliant expanding actuators provide tactile feedback to users. B) Unique benefits of Artimus haptic actuators include large displacement and wide bandwidth acceleration. C) Compliant actuators can be easily integrated into various haptic devices including wearables, seating, and other devices that provide tactile sensations. Humans are already overwhelmed with visual and auditory information, especially in scenarios with a high cognitive load. As a result, haptics is attractive as an alternative method for communicating information with low cognitive load [1]. Haptic vibrations are a familiar part of the user experience for phones and gaming controllers, but the amount and quality of information from buzzing motors are limited. As daily lives become more connected and technologies strive to be more immersive, there is a need for haptic actuators that are effective at communicating a diverse range of signals and information. Background on Traditional Haptic Actuators Most haptic actuators today are either eccentric rotating motors (ERMs), linear resonant actuators (LRAs), or voice coils actuators (VCAs). These actuators are great for providing vibrations in the 100 - 300 Hz range. As a result, most haptic devices today transmit information by buzzing at different frequencies and amplitudes. Other signals are imitated by controlling variables such as duration and intensity. However, most physical interactions - such as clicking a button, grasping an object, or embracing a loved one - occur at lower frequencies and are not adequately represented by the buzzing of traditional haptic actuators. In fact, important nerve endings known as Meissner corpuscles are the most sensitive to motion within the range of 10 - 50 Hz [2]. Additionally, slowly adapting (SA) mechanoreceptors are responsive to frequencies as low as 0.4 Hz and are important for perceiving shapes and direction of motion along the skin. Sensations at these low frequencies can be imitated with various tricks using traditional haptic actuators, but the effect is a poor representation of reality. Finally, ERMs, LRAs, and VCAs are all actuated by electromagnetic forces. As a result, they are made from a variety of rigid materials and require several moving parts. Besides added complexity, these factors make it difficult to integrate electromagnetic actuators into devices such as wearables that need to be comfortable and unobtrusive for a user. Additionally, due to the mechanical impedance mismatch of stiff rigid materials and soft human tissue, the transfer of energy from an electromagnetic actuator to a user is inefficient. To address these challenges, Artimus Robotics has developed a new class of soft haptic actuators that provide controllable tactile feedback over a wide frequency range and can be easily customized to meet the size and shape requirements of a given application. Operating Principle of Artimus Robotics Actuator Technology The Artimus Robotics soft actuator technology uses electrostatic forces to pressurize hydraulic fluids, driving shape change in soft hydraulic structures. Figure 2 illustrates these operating principles using a simplified cross-section of an Artimus Robotics actuator. The actuators consist of three main components - a flexible polymer pouch, a dielectric liquid, and at least one pair of electrodes. Importantly, these components can be made from commodity materials that are widely available at a low cost. This is in stark contrast to electromagnetic actuators which use precision metal components, or piezoelectric actuators which rely on specialty ceramics. Artimus actuator technology can be used for either expanding (Link) or contracting (Link) linear motion, depending on the shape of the polymer pouch and electrodes. Below, typical performance is discussed for circular expanding actuators (E-0015 series) which are well suited for many haptic applications. While it is not discussed here, it should be noted that contracting actuators can be utilized for kinesthetic haptic feedback. Additionally, other actuation modes can be achieved through material selection, geometric design, and integration strategies. Figure 2. Basic cross-section of a HASEL actuator from Artimus Robotics. The actuator consists of three main components: a flexible polymer pouch, dielectric liquid, and electrodes. The electrodes cover part of the pouch, and when voltage, V1, is applied to the electrodes, the pouch begins to zip together. This displaces the liquid dielectric which results in an overall change in the pouch shape and an increase in pressure within the pouch. Actuation displacement and output force are controlled by varying the applied voltage. In the idealized schematic shown here, at voltage V2, the electrodes have fully zipped together and half of the pouch takes a circular cross-section. Artimus Robotics Haptic Actuator Performance A circular expanding actuator (E-0015 series) provides a performance and form factor well suited for haptic performance (Figure 3). A single-layer actuator is very thin (0.3 mm) which is ideal for integrating into flexible structures (Figure 3A). Actuator stroke can be increased by stacking multiple actuators together. Actuators are typically encapsulated in an elastomer which makes them safe to touch during operation (Figure 3B). The actuators are made from flexible materials and can conform to different shapes or withstand repeated bending and twisting (Figures 3C & 3D). The performance of single-layer (E-0015-01), four-layer (E-0015-04), and fourteen-layer (E-0015-14) actuators are evaluated below. All of these actuators have a nominal diameter of 3 cm, but larger and smaller diameters, as well as other shapes, are possible. Figure 3. A) A standard single layer 3 cm expanding actuator (E-0015-04-01). Multiple actuators can be stacked to increase stroke. B) The actuator can be encapsulated for safe interaction with a user. C) & D) The actuators are made from a variety of compliant materials and are robust to repeated bending and twisting, which is ideal for comfortable integration into wearables or a variety of deformable interfaces. Figures 4 & 5 highlight the wide bandwidth performance of Artimus haptic actuators in response to a sinusoidal driving signal from a power supply capable of providing high voltage and limited current (< 1 mA). Peak-to-peak displacement is nearly constant until it starts to roll off at 10-30 Hz (Figure 4). As expected, actuators with more layers have more displacement - compare the fourteen-layer (E-0015-04-14) and the single-layer actuators (E-0015-04-01). Figure 4. Peak-to-peak displacement for varying frequencies of a sinusoidal input signal. Actuators are tested with a 100 g load. For haptic applications where force sensation to the user is important, it's more common to evaluate peak-to-peak acceleration as a function of frequency, as shown in Figure 5. As expected, acceleration is small if not negligible at low driving frequencies, but the actuators provide significant acceleration above 1 Hz. The fourteen-layer actuator (E-0015-14) provides greater than 1 G of acceleration in the frequency range of 4 - 100 Hz. The thinner actuators have higher maximum acceleration (>4 G) and operate at a higher frequency range. The single and four-layer actuators have a higher frequency range than the fourteen-layer actuator because they are a smaller capacitive load on the power supply, which is limited to 1 mA output current. Smaller stacks are preferred in cases where acceleration is more important than displacement and power input is limited. Importantly, the demonstrated ranges of performance highlight the ability to tune haptic performance with different actuator sizes. Figure 5. Peak-to-peak acceleration for varying frequencies of a sinusoidal input signal. Actuators are tested with a 100 g load. Figure 6 shows the static performance of Artimus haptic actuators. Force output varies with stroke - starting with a maximum force (blocked force) at zero displacement and decreasing at higher displacement. It is also possible to adjust the actuator size (i.e. diameter), number of actuators in parallel, and number of actuator layers to meet the specific performance and size requirements of an application. Figure 6. Static force as a function of actuator displacement. Displacement scales with the number of actuator layers, while blocked force (force at 0 mm) is the same for actuators of the same diameter. Actuator response time is important for effectively transmitting haptic information. For low-latency communication, the actuator should have a short response time to a changing input signal. Additionally, a short response time indicates higher acceleration which produces a greater sensation to the user. Figure 7 shows the response time of expanding actuators to a square wave input signal. For the actuators tested, the turn-on time was 0.04 s and the turn-off time was 0.06 s in response to a square wave input. These response times can be easily modified and depend on many factors including range of displacement, actuator size, and materials. Importantly, the fast response to a square wave input provides a crisp actuation feel to the user which is in stark contrast to ERMs and LRAs which attempt to imitate events such as button clicks with specifically tuned vibration patterns (Figure 8). Figure 7. Actuator response time to a square wave input. Turn-on time (ton) is 0.04 s while turn-off time (toff) is 0.06 s. This fast response reduces the latency of haptic communication and provides crisp-feeling haptic feedback. Figure 8. Typical actuation profile for an ERM or LRA compared with an Artimus haptic actuator that is meant to convey a button click. An ERM or LRA will vibrate at a high frequency with varying amplitude (red line), while an Artimus haptic actuator will respond with a crisp square displacement profile. User Feedback Through Self-Sensing Finally, Artimus haptic actuators are capable of self-sensing their deformation based on the capacitance of the actuator electrodes. Referring back to Figure 2, actuator capacitance increases as the electrodes zip together and actuator displacement increases. Applying a vertical compressive load to a fully zipped actuator will cause the capacitance to decrease as the electrodes unzip and the actuator displacement decreases. Signals for capacitive sensing can be integrated with the actuator driving signal allowing for simultaneous sensing and actuation. This combination of actuation and sensing for two-way haptic communication is beneficial for haptic applications that may have limited space for actuators and sensors. For example, a button could detect when a user presses it and can provide vibration feedback to the user. The inherent self-sensing ability of Artimus Robotics actuators is highlighted in the following videos: Actuation and sensing combined: Link Sensing resolution demo: Link Additional Attributes of Artimus Robotics Haptic Actuators A few additional attributes of Artimus actuators are discussed below in the context of haptics applications. First, since Artimus haptic actuators rely on electrostatic principles, the operating voltage is high - typically ranging from 3 - 6 kV. While high voltage is a safety concern and presents challenges for integration, the actuators can be properly insulated using a variety of polymers, elastomers, and flexible electronics to satisfy common safety regulations like CE, UL, and IEC. Additionally, the operating current is very low (< 1 mA) and the total electrical power consumption is low. For example, power consumption at 40 Hz (peak acceleration in Figure 5) ranged from 2.0 W peak (0.4 W RMS) for a single layer actuator to 10.2 W peak (3.8 W RMS) for a 14 stack. As a result, actuators can be operated using battery-powered portable power supplies. An added benefit of the low current consumption is that Artimus haptic actuators do not generate heat during operation (Link). This is especially beneficial for applications that are sensitive to temperature or that may require arrays of actuators. The lack of metal components and low current also means that haptic actuators from Artimus Robotics are capable of operating in environments that are sensitive to magnetic fields. Finally, Artimus haptic actuators have no moving parts and as a result are nearly silent, as demonstrated in this video: Link. Conclusions Soft electrostatic actuators from Artimus Robotics offer many advantages over conventional haptic actuators. The ability to provide movement and sensations over a wide frequency range (DC to 200 Hz) is especially attractive for enabling new haptic experiences. In contrast to traditional haptic actuators which are made from rigid parts and provide high-frequency vibrations, Artimus Robotics actuators are soft, compliant, and can provide lifelike sensations. Artimus haptic actuators also simplify integration as they can be easily incorporated into wearables, soft structures, or other surfaces that have limited space. The data presented here is representative of just a few different actuators that Artimus Robotics offers. A variety of sizes, shapes, and performance characteristics are available, as shown in Figure 9. Additionally, Artimus can easily customize actuators for optimal integration into customer systems or products. Figure 9. Examples of various sizes and shapes for haptic actuators. The specific size and shape of an actuator can be customized to meet the performance and integration requirements of a specific application. Please contact info@artimusrobotics.com to learn more about Artimus Robotics haptic actuators. References [1] MacLean, Karon E. “Putting Haptics into the Ambience.” IEEE Transactions on Haptics 2, no. 3 (2009): 123–35. https://doi.org/10.1109/TOH.2009.33. [2] Jones, Lynette. Haptics. MIT Press Essential Knowledge. The MIT Press, 2018.

HASEL actuator technology is based on electrostatic operating principles. In this rare area of physics, a high voltage (very low current) is required to create a sufficient electrostatic field to provide the desired actuator performance. Many customers do not have easy access to high-voltage sources in their applications, so Artimus Robotics provides driving electronic modules to power HASEL actuators. These driving electronic modules are ideal for testing a variety of actuator designs across a wide range of operating conditions (just like Artimus’ standard actuator products are great for initial evaluations prior to designing custom actuators or development). Once the customer has identified the best actuator design and operating conditions for the application, Artimus Robotics will use those inputs to optimize the design of the driving electronic module for performance, efficiency, size, weight, and any other factors that are critical to the application. The internal components of the driving electronic module can also be integrated into any existing electronics in the customer’s application (including battery power sources for portable applications) and can be controlled by the customer’s existing software. Artimus Robotics currently uses off-the-shelf high-voltage amplifiers and other electronic components in the driving electronic modules. The particular high-voltage low-power components are uncommon and only used in a few niche applications in scientific equipment and satellites. These applications require extremely high levels of precision and the components are much more sophisticated than what Artimus needs for driving HASEL actuators. The extreme precision coupled with the sparse manufacturers of these components makes them very expensive and not acceptable for many of the applications where HASEL technology excels, such as in consumer products, automotive, and industrial automation. To solve this problem, Artimus Robotics is internally developing low-cost driving electronics that meet the pricing requirements of cost-sensitive applications at scale. The low-cost electronics are designed for the ideal precision and specifications required by HASEL actuators, and optimized for the high-voltage low-power technology, providing customers with a more cost-effective electronics module than the current off-the-shelf solutions. Want to learn more about low-cost electronics development efforts? Contact Artimus Robotics at info@artimusrobotics.com. 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.

HASEL actuators from Artimus Robotics offer numerous benefits over traditional actuator technologies for many different applications. Industries such as automotive, consumer products, medical devices, aerospace, industrial automation, and defense have already realized these advantages. The best merits depend on the specific application for the actuator, but below are a few example benefits of HASEL actuator technology for one of the most popular uses of HASEL actuators: haptic applications. Soft and compliant structures Silent operation Wide bandwidth (slow/organic motion and traditional vibrations) Low-cost materials High controllability Sync with external inputs Customizable shape/size/materials Intelligent self-sensing Artimus Robotics offers three primary ways for customers to explore HASEL actuator technology: Artimus Robotics already has many standard products available for testing and experimentation. These standard actuators are often sufficient for exploring the technology or MVP-level application testing. Artimus can supply the driving electronic modules and software control programs in a “development kit” to make it easy for customers to get started. Click here to learn more about standard product offerings. Due to the flexibility of the product design and manufacturing processes, it is relatively simple for Artimus to modify the size, shape, or material of standard products to offer custom products that are more suitable for customer application testing. Click here to learn more about custom product offerings. Due to its history as an academic research spinout and the extensive R&D to commercialize the technology, Artimus specializes in new developments of the technology. Nearly all commercial customers are utilizing a custom product and many of those needed some level of technical development to optimize the product for that specific application. Click here to learn more about new technology development offerings. Want to learn more about the various ways to explore HASEL actuators for your application? Contact Artimus Robotics at info@artimusrobotics.com. 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.

Vehicle interiors are trending toward sleek, minimalistic designs. This is especially true with buttons. As modern cars have more and more features, designing for the user experience in commanding those features presents a challenge. Imagine if every feature in the modern car had a separate button - the entire car would be covered in buttons! To prevent overwhelming users with buttons, designers are opting for integrating multiple features into one user interface, such as center console buttons or dashboard touch screens. Another solution is to hide the buttons so that they present themselves only when sought by the user. A flat and smooth interior panel where the button appears at the appropriate time is increasingly in concept cars and pre-production models. However, this solution usually requires at least two separate components - one actuator to present the button and a separate sensor to register the user input. A third component, some kind of haptic actuator, is required if the solution is to provide input acknowledgement back to the user. Two to three separate components are often too large, heavy, and expensive to justify this solution, and the additional supporting systems add too much complexity. HASEL actuator technology from Artimus Robotics offers a superior solution for hidden buttons (also called button-on-demand, hidden-to-lit). Since HASEL actuators have intelligent self-sensing capabilities, each HASEL actuator is also a sensor. This reduces the number of separate components needed for the hidden button, as the actuator that presents the button can also sense the user input, reducing the cost and weight of the design solution. Additionally, HASEL actuators offer superior haptic capabilities, meaning that a wide bandwidth of response frequencies can acknowledge back to the user that the input was received (and separate haptic responses can confirm or reject the input). Want to learn more about HASEL actuators for hidden button (button-on-demand, hidden to lit) applications? Contact Artimus Robotics at info@artimusrobotics.com. 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.

HASEL actuation technology from Artimus Robotics provides an excellent alternative to piezoelectric stack actuators because of the high actuation strain, low material cost, intelligent self-sensing, and lead-free material composition of HASEL actuator technology. Low-frequency piezo transducers use specialized materials like barium titanate and PZT ceramics that can contain lead, a substance banned by the RoHS directive in Europe, and these can break easily when deformed due to their brittle nature. HASEL actuators are made from inexpensive commodity materials and have soft compliant structures and a wide bandwidth of operation that is beneficial for haptics and sensation applications. HASEL actuators operate especially well in the low-frequency range (DC to 50 Hz) which is uncommon for many actuator technologies. This capability sets HASEL actuators apart from traditional haptics buzzers, such as piezo buzzers, eccentric rotating mass (ERM) motors, and linear resonance actuators (LRA). Additionally, HASEL actuators are highly controllable and easily customizable in shape, size, and materials, and can be made for millimeter-scale products. Low-frequency piezo transducers rely on stacking the individual layers of the piezo element (required to increase the tiny strains) so their customizability is very limited. Want to learn more about HASEL actuators as a piezo alternative for low-frequency applications? Contact Artimus Robotics at info@artimusrobotics.com. 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.