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One of the most frequently used actuators for haptics is the piezoelectric actuator. This actuator has many advantages, including high-performance, high fidelity feedback, fast turn-on time, and static deflection. Piezoelectric actuators are also thin, lightweight, and nonmagnetic. However, piezoelectric actuators have their limitations, and they may not be right for every application. One of the major limitations of piezoelectric actuators is their ability to achieve a long actuation strain. Piezoelectric actuators generally provide 0.1% to 0.15% actuation strain. In contrast, HASEL actuators can provide much greater actuation strain in the range of 10% (contracting) and 100% (expanding). These strain capabilities make HASEL actuators suitable for more applications. This high strain in a small compact actuator is a very unique attribute of HASEL actuators and gives haptic applications more features. Piezoelectric actuators can achieve higher displacement with specialized geometries designed to operate at a resonant frequency. However, this constrains the operating conditions of a system. A better solution is to offer significant strain over a wide range of frequencies, which is what the HASEL actuator can do. Depending on the form factor, HASEL actuators can provide extremely large bandwidth, from DC all the way to thousands of Hertz actuation frequencies. Haptic devices offer more capabilities when their actuators have high bandwidths. Finally, another downside to piezoelectric actuators is that they utilize specialized materials such as barium titanate and PZT ceramics. These two materials can contain lead and be brittle and easily broken when deformed, limiting their use for haptic devices. HASEL actuators are flexible and do not require any metal components (including lead). This is a great alternative when the application permits no lead materials, such as what future RoHS directives in the EU are requiring. Piezoelectric actuators are the long-standing technology for haptics, and they have many advantages, including high-performance, high fidelity feedback, and fast turn-on time. While piezoelectric actuators excel in these areas, they still have their drawbacks. If you are in need of an actuator that is a compelling alternative to the piezoelectric actuator, HASEL actuators from Artimus Robotics may be the solution to your problem. 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.

At the end of 2021, Artimus Robotics completed a one-year study on the electromechanical failure modes of HASEL actuators. Since founding the company in 2018, a regular concern of Artimus’ customers has been the lifetime of HASEL actuators in their unique motion applications. Artimus was extremely fortunate to leverage the National Science Foundation’s prestigious Small Business Innovation Research Grant Program to allocate $225k to better understand and subsequently improve the lifetime of HASEL actuators. Furthermore, this project enabled the advancement of fabrication processes of HASEL actuators, improved physical performance (stronger actuators), and resulted in better understanding of long term operation. This significant advancement of Artimus Robotics’ understanding of their core technology, HASEL actuators, had immediate impacts on their business and customers, with many of the technical advancements being immediately applied to customer projects and products. Key results and learnings summarized below: Lifetime: The lifetime (both mean time between failure and max) of a particular actuator was improved over 10X. The lifetime was determined to be highly dependent on the operational and environmental considerations. Artimus continues to study and improve the lifetime of HASEL actuators to reach the level of acceptance for the most challenging applications such as industrial automation and automotive. Strength: The strength of a given size actuator was increased over 5X. The overall strength of the actuators was found to be dependent on a variety of factors including geometric and materials considerations. While the current physical performance of HASEL actuators is suitable for many applications such as on-body actuation for haptics and healthcare, other applications such as industrial automation for pneumatic bladder replacements continue to require higher performance HASEL actuators and thus research continues in this avenue of study. Processing: To support the above two areas of research, Artimus significantly improved and expanded their fabrication and manufacturing processes. Additionally, Artimus developed new materials testing capabilities to enable rapid, in-depth testing of HASEL actuators in further support of customer-specific development. As all of the above technical advancements are highly dependent on the specifics of the use-case, all customers and potential customers should reach out directly to better understand how these NSF sponsored advancements can be applied to their soft actuator use case. Artimus was successful in accomplishing all their stated technical goals proposed for this Phase I project and also made significant inroads with a variety of customers and applications. This NSF SBIR research was directly aimed at the needs of Artimus’ current and future customers, making Artimus an exemplary partner of the SBIR program. These business advancements were supported by additional sources such as the NSF I-Corps program, external funding, and product sales. After realizing success during the Phase I project, Artimus has requested additional support from the National Science Foundation in the form of a Phase II SBIR grant with expected notice in mid-2022. About America’s Seed Fund America’s Seed Fund powered by the National Science Foundation (NSF) awards $200 million annually to startups and small businesses, transforming scientific discovery into products and services with commercial and societal impact. Startups working across almost all areas of science and technology can receive up to $1.75 million in non-dilutive funds to support research and development (R&D), helping de-risk technology for commercial success. America’s Seed Fund is congressionally mandated through the Small Business Innovation Research (SBIR) program. The NSF is an independent federal agency with a budget of about $8.1 billion that supports fundamental research and education across all fields of science and engineering. For more information, visit seedfund.nsf.gov. Learn more about Artimus Robotics’ SBIR award here: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2014648 Learn about the NSF SBIR program here: https://seedfund.nsf.gov/

A ceramic that expands or contracts when an electrical charge is applied is called a piezo element. This element generates bending or linear movement and force. Piezo elements can be layered on top of each other, creating a stacked piezoelectric actuator. Since piezoelectric actuators produce very small movements, stacking them in modular layers is a way to get more movement. However, the common strain ranges of piezos are very limited, usually 0.1% to 0.15% actuation strain. Even when stacked, piezos can usually only provide less than one millimeter of stroke. Piezoelectric actuators are used in industrial automation, automotive, defense, and more. Common applications for piezo actuators include precise positioning devices, electrical switches, micro-pumps, valves for liquids and pneumatic systems, inkjet printers, and anti-vibration devices. However, since piezoelectric stack actuators contain lead, a substance banned by the RoHS directive in the EU, many of these applications are searching for alternatives. Stacked piezoelectric actuators are a common actuation solution, but emerging technologies are offering alternatives for small linear actuators. One example is HASEL actuators, which have many similarities to piezoelectric actuators, but they also have some marked differences. With HASEL actuation technology, an electrostatic force is applied to a flexible polymer pouch containing a dielectric liquid, prompting a soft structure shape change. HASEL actuation technology enables smart, versatile, and compact motion solutions. HASEL technology offers analog (proportional) control and gets much higher actuation strain (10% for contracting designs and 100% for expanding designs) than piezos, making HASEL actuators a better actuation solution for applications requiring 1-10 millimeters of stroke. While HASEL actuators are well suited for applications in search of small linear actuators, they can also be scaled to centimeter-scale or greater making these actuators appropriate for more than just small scale actuation. HASEL actuators do not contain lead or any other substance banned by the RoHS directive, and HASEL actuators are made from very inexpensive materials, making HASEL a good replacement for stacked piezoelectric actuators. 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 provide a quiet and efficient alternative to conveyor air bladders. Actuators from Artimus Robotics increase sustainability in distribution centers due to their efficiency improvements over traditional conveyor air bladder actuators powered by compressed air systems. Artimus Robotics also offers smart actuators, allowing for faster servicing and minimal downtime of the conveyor. These electric actuators can significantly reduce the operating costs of conveyor systems with efficiency improvements, increased operating speeds, and can even add intelligence and complex motion capabilities to the conveyor. Since the actuator technology is modular and easily customizable, HASEL actuators can be an electric drop-in replacement for accumulation conveyors, conveyor brakes, and multiple other conveyor applications. The following video shows an example of an electric alternative to a conveyor air bladder in an accumulation conveyor. 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.

Electroactive Polymer (EAP) technology has over a 100-year history in research settings but very limited commercialization. Largely used as artificial muscles due to many electroactive polymers exhibiting soft compliant structures and biomimetic initiatives in research, electroactive polymers are also popular in the fields of soft robotics, tactile displays, and microfluidics. However, the commercialization of electroactive polymers has had minimal success when compared with other niche deformable actuator or sensor technologies, such as piezoelectric or shape memory alloys. The lack of commercialization of electroactive polymers is historically due to technical limitations or inherent flaws in the old technologies. The best example is the dielectric elastomer actuator (DEA). Once a mature electroactive polymer technology and very promising for commercialization, dielectric elastomer actuators were found to exhibit a severe dielectric breakdown of the material, resulting in poor lifetime characteristics. This lifetime deficiency proved the technology inadequate for nearly all of the applications for which it was developed and hindered its path to commercialization. Renewing the promise of full-scale electroactive polymer commercialization is HASEL actuation technology. HASEL actuators are one of the newer electroactive polymer technologies and they don’t use elastomers, providing a variety of material advantages such as improved lifetime and high volume production potential. Additionally, HASEL actuators have superior technical characteristics when compared to other niche actuator and sensor technologies such as piezoelectric and shape memory alloy (SMA) actuators. For example, HASEL actuators have fast speeds compared to the slow performance of competing shape memory alloy technology. Another competing technology to HASEL actuators that has successfully been commercialized is piezoelectric (piezo) actuators. Piezos have very small strain capabilities, and the EU and other regulatory bodies are expected to broaden the ban on lead products to include piezos, putting the future of this technology in doubt. In comparison, HASEL actuators have strains up to 100% and do not use lead, allowing for successful commercialization by Artimus Robotics. The commercialization of the HASEL actuation technology is founded on partnerships with leading researchers such as the Keplinger Research Group and the Max Planck Institute for Intelligent Systems. Find the perfect HASEL actuator for your application by providing your specifications and application details in the Application Assistant. 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.

The following video demonstrates analog control of HASEL actuators. Analog, or proportional control, is important for applications that require precise control of actuator stroke, or variable strokes each cycle. Coupling simple analog control with Artimus Robotics’ more complex charge control techniques provides highly variable, motion capabilities that are unmatched by traditional motion technologies. Additionally, incorporating the self-sensing feedback capabilities of HASEL actuators can yield an intelligent system of reactive actuators with closed-loop control and highly variable motions. 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.

Artimus Robotics designs and manufactures proprietary HASEL actuators for a variety of industries and applications, but one of the most popular use-cases is to offer an electric alternative to traditional pneumatic compression devices. Compression devices traditionally use a polymer bladder, often thermoplastic polyurethane (TPU), that inflates with air to provide compression directly on the human body. Application examples of this include: AR/VR haptic accessories Bedsore prevention devices Luxury mattresses Massage chairs and products Treatment devices for lymphedema, deep vein thrombosis, limb ulcers, cystic fibrosis Recovery devices for athletes G suits for pilots and astronauts Blood pressure monitor cuffs Pneumatic compression devices for these applications and more are often seeking an electric alternative to the incumbent compressor/pump pneumatic system but that still provides the same soft compliance as the TPU bladder. HASEL actuators are an electric alternative to pneumatic bladders and provide many other benefits for compression devices, including higher efficiencies, lower noise, smaller size and weight, lower cost, faster speeds, higher bandwidths, and portability improvements. As entire industries shift away from pneumatic power to electric power, such as automotive, industrial automation, and medical, individual applications parallel to these industries are also following the electrification trend. Loud, heavy, and expensive compressor and pump systems are being replaced in pneumatic compression devices by silent, lightweight, inexpensive HASEL actuators. 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.

A key benefit of HASEL actuators from Artimus Robotics is that they are highly controllable. This can be in the form of extremely variable motion in the actuators themselves, or in sophisticated synchronization, patterning, or sequencing groups of actuators with entirely independent control. The following video demonstrates the features of multichannel control from Artimus Robotics. In this video, one active surface has eight individual expanding HASEL actuators. With multichannel control, these eight actuators can operate as eight individual pixels, each with their own unique motions independent of the other pixels. They can also be perfectly synchronized to actuate together, or divided into groups with programmable patterns. The actuators can have variable speeds (synchronized or independent) and can demonstrate sequential behaviors. In the second half of the video, the active surface shows some actuators operating with low frequencies and other actuators operating with high frequencies, all driven by the same controller. Industries that can benefit from multichannel control are: human-machine interfaces (massage devices, haptic feedback devices, compression devices), industrial automation (conveyor systems, pump/valve systems, gripper end effectors), and automotive (smart surfaces, button-on-demand, ADAS). 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 are a new type of “smart actuator” technology that is a compelling alternative to long-standing technologies such as piezoelectric actuators. A key benefit of HASEL actuators is the ability to achieve large actuation strain - in some cases as high as 100% - and inherent compliance that results in a more resilient and versatile actuator. The following paragraphs provide a detailed comparison of the two technologies. HASEL actuators and piezo actuators are both activated by an applied voltage. For HASEL actuators, the applied voltage induces electrostatic forces that cause a liquid-filled structure to change shape. Piezoelectric actuators are made from specialized materials that deform due to applied voltage. The magnitude of voltage required for these actuators types varies. HASEL actuators typically require voltage on the order of 1-10 kV, but the current is very low (< 1 mA). Piezoelectric actuators also require a high voltage for operation, but it's an order of magnitude lower than HASEL actuators, usually in the range of 0.1 to 1 kV. In terms of performance, these actuation technologies differ significantly when you compare their actuation strain or change in thickness (expanding actuators) or length (contracting actuators). Piezo actuators generally provide 0.1 to 0.15% actuation strain. In contrast, HASEL actuators can provide actuation strain in the range of 10% (contracting) to 100% (expanding). This larger displacement makes HASEL actuators much more suitable for applications requiring 1 - 10 mm stroke or larger. Piezo actuators can achieve higher displacement with specialized geometries that are designed to operate at a resonant frequency (e.g. cantilever beams), but this constrains the operating conditions of a system. In contrast, HASEL actuators can provide significant strain over a wide range of frequencies (as high as several 100 Hz depending on the application). Finally, the materials used for HASEL actuators are flexible and do not require any metal components. In contrast, piezoelectric actuators are generally made from specialized materials like barium titanate and PZT ceramics which can contain lead and be brittle and break easily when deformed. As a result, HASEL actuators are a great alternative for applications requiring no lead material, compliance, or deformation. Examples include wearable actuators for haptics and VR or actuators that interact with objects that vary in shape or size. 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.

Pneumatic bladders are soft pouches filled with air. The pouch may stretch, like a balloon, or may be flexible, like a polymer, but it is always a soft, compliant material. Pneumatic bladders, a type of pneumatic linear actuator, are commonly used in applications that contact delicate objects due to their ability to conform to the shape of the object. Pneumatic bladders are also used in applications that contact the human body because they can be designed to optimize for comfort. Some examples include: AR/VR haptic accessories Bedsore prevention devices Luxury mattresses Massage chairs and products Treatment devices for lymphedema, deep vein thrombosis, limb ulcers, cystic fibrosis Recovery devices for athletes G suits for pilots and astronauts Blood pressure monitor cuffs The individual pneumatic bladder would be a quiet and inexpensive solution if it could stand alone, but it requires a supporting system of an air compressor or pump, hoses, valves, and connectors. The resulting system is large, heavy, noisy, inefficient, and expensive. Air-based systems, including pneumatic bladders, pneumatic linear actuators, pneumatic rotary actuators, and pneumatic cylinder actuators, also have slow response times and low bandwidth due to the limitations of air as a working medium. Size and Weight Pneumatic bladder systems are heavy and bulky due to the number and size of supporting components. It’s not just the size and weight of the pneumatic bladder that must be accounted for, but also the supporting components. The compressor/pump and driving motor are typically the largest and heaviest components of a pneumatic bladder system, but the valves, connectors, and hoses can also be significant contributors to the overall weight and size of the system. Noise Significant noise is emitted from the compressor/pump, the driving motor, and the valves. This often requires a muffler in the system and noise dampening design around the system, such as dense foam, which can have unintended consequences like additions to the size and weight or low heat transfer properties resulting in the system overheating. Efficiency Compressed air systems in industrial settings can have efficiencies as low as 10-15%. Compressing air takes a large amount of energy because significant heat is generated and is an efficiency loss. With pneumatic bladder systems, the compressor/pump not only has electrical and mechanical losses, but also the inevitable leaks in the hoses and valves reduce the efficiency of the whole system. Cost The compressor/pump and driving motor are expensive components of a pneumatic bladder system. Depending on the number of pneumatic bladders in the system and the complexity of their behavior, the valve block, connectors, and hoses can also add up to a large cost. This only accounts for the hardware cost of the system, the electrical power cost to support an inefficient system and an aggressive scheduled maintenance program can make the total ownership cost of a pneumatic bladder system very high. Speed and Bandwidth The response speed of pneumatic bladder systems is limited by the response speed of compressed air. It can be fast with very high-pressure systems, but high-pressure pneumatic bladders are very rare. Most pneumatic bladder systems are low pressure and operate very slowly. Air response time is also a serious limitation to the achievable bandwidth of the pneumatic bladders. One popular alternative to pneumatic bladders and pneumatic linear actuators are soft electric actuators, such as the HASEL technology offered by Artimus Robotics. Visually, these appear similar to pneumatic bladders because they consist of a filled polymer pouch, but the pouch is filled with a commodity oil instead of air, maintaining a soft, compliant structure. As an entirely electric system, HASEL actuators offer extremely fast response times, very high bandwidth, and variable actuation profiles, allowing for expanded features and sensations in products that were previously limited by the pneumatic bladder to slow speeds and simple actuation profiles. For example, HASEL actuators can be synchronized with music to provide end-users with new experiences. As an alternative to pneumatic bladders, HASEL actuators don’t require a supporting system of components, just small electrical wires. These actuators are lightweight (no metal parts) and compact (thin form factor), and they operate silently. Due to the simple bill of materials of commodity components, HASEL actuators are extremely inexpensive at a mass-production scale. They also have the efficiency benefit of an electrical system (minimal waste heat generation), and most interestingly, HASEL actuators have intelligent self-sensing capabilities, allowing for real-time feedback and closed-loop control. An overview of HASEL actuators and example applications can be found in the video below. If you are interested in learning more about why HASEL soft electric actuators from Artimus Robotics are rapidly replacing pneumatic bladders, please contact 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.

Artimus Robotics designs and manufactures soft, electric actuators. A unique combination of fast, complex, and delicate motions results in novel experiences for on-body entertainment applications. HASEL actuators from Artimus Robotics can actuate fast enough to synchronize with music. Since these actuators provide soft, compliant motion, coupling this benefit with music synchronization offers new immersive experiences for human-machine interfaces. Active applications that are already exploring this feature are AR/VR, smart wearables, and even luxury passenger comfort systems in the automotive industry. To learn more about music synchronization with HASEL actuators, please contact 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 soft, compliant motion. They can be manipulated, bent, twisted, and conformed to a fixed available space and still operate normally. Traditional electric actuators are made from metal components and offer no compliance. Metal actuators have an uncompromising rigid structure that requires a specific form factor to operate. If an object interferes with the motion path, the traditional actuator will usually fail catastrophically. The motion provided is also hard and insensitive, resulting in damage when actuating delicate objects. HASEL actuators provide lifelike motion and are perfect for actuating in delicate environments. The structure is soft and forgiving, allowing compliance in tight form factors or unusual geometries. Additionally, HASEL actuators are robust, despite their delicate movements. They can be bent, twisted, or interfered with and still actuate their normal behaviors. To learn more about compliant actuators from Artimus Robotics, please contact 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.