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All actuators from Artimus Robotics can be purchased in a development kit to facilitate experimentation with the unique HASEL soft electric actuator technology. Development kits provide the supporting components and accessories necessary to set up and start testing HASEL actuators in a demonstration setting. Development kits, or dev kits, include one or more HASEL actuators, a portable high-voltage power supply, a software control program, user manual, and other accessories which may include power and communication cables, a mounting stand, and a demonstration weight. The software control program is an executable file that allows users to select the voltage, frequency, duration, and waveform that will be sent to the actuator. The portable high-voltage power supply contains a rechargeable battery and offers three modes of operation: Serial command operation mode Push button operation mode Pre-programmed demo operation mode Development kits from Artimus Robotics are not optimized for one specific industry or application. Instead, these provide quick access to basic driving electronics and supporting components to allow preliminary testing and familiarization with HASEL actuators. Once customers have tested the actuators using the development kit, they can provide feedback to the engineers at Artimus to begin the iterative development to optimize a HASEL design for that specific application. Please see the videos below which provide more detail on development kits from Artimus Robotics. Contracting actuator development kit video Expanding actuator development kit video 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 very unique way to make motion. The patented combination of flexible films, liquids, and high voltage provides diverse and controllable motion not previously seen in other technologies. (Learn more about how a HASEL actuator works here) When customers learn about the use of high voltage, they often have concerns about safety. While HASEL actuators consume very low power (high voltage, low current device), there are many ways to mitigate these safety concerns (see this post on HV safety), so much so that some HASEL actuators can actually be designed to be safe to touch. In this video, an example of an E-series (expanding) HASEL actuator is shown that is totally safe to touch even while actuating. While this demonstration is not yet approved for a consumer safety certification, it does highlight the potential of HASEL actuators to be near and in contract with people. This ability to touch, combined with organic, silent, and controllable motion, makes HASEL actuators a truly unique offering for human-machine interfaces, buttons, haptics, massage, and more. If you are interested in learning more about the use of HASEL actuators on or near people, please reach out to info@artimusrobotics.com to learn more. Our Artimus Robotics Partnership Program is filling fast but we would love the opportunity to work with your business to explore new possibilities. 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.

Connected, intelligent, and smart devices are all synonyms for similar desires: the ability to gather information about how a device is operating. Smart devices such as actuators are critical for the Internet of Things (IoT) and the Industrial Internet of Things (IIoT) applications. As businesses and applications look to optimize their operations, they want to make data-driven decisions by monitoring how various devices are operating and reacting accordingly. As a recent conversation with a Chief Information Officer highlighted, there is a large desire to “Connect and Collect” on any and all devices in their facility. The benefits of connected devices are endless, with readily available impacts on downtime, quality, safety, efficiency, and more. A key need for increased connectivity is smart actuators, components that provide motion that can be highly controlled and monitored. HASEL actuators from Artimus Robotics are smart actuators. Using patented actuation technology, HASEL actuators are able to provide real-time information about their state and function thanks to the inherent self-sensing capabilities of HASEL actuators. HASEL actuators are variable capacitors, consisting of opposing electrodes that partially cover a flexible polymer pouch that encloses a dielectric liquid. The HASEL actuator is activated by applying a voltage across these electrodes which drives a shape change in the pouch and is the fundamental mechanism for actuation. See this post and video for more details on how HASEL actuators work. As actuation occurs (State 1 to State 2 in the image below), the capacitance of the actuator changes as does the distance in which the actuator has moved. Thus, a relationship between the capacitance and the distance the actuator has moved can be developed. The larger the capacitance, the larger the displacement of the actuator and vice versa. Using patent-pending sensing techniques from Artimus Robotics, the capacitance of the HASEL actuators can be monitored in real-time, without an additional connection or sensing components. This technique uses AC impedance sensing, in which a low-amplitude, high-frequency AC signal is superimposed on to the high-amplitude, low-frequency driving signal that is driving the actuator. This methodology is often referred to as ‘Data-over-Power’ or ‘Power Line Communication’ in some communities. Proprietary analysis of this complex signal allows Artimus to gather feedback about the state of the actuator, enabling closed-loop control of the actuator. The self-sensing capabilities of HASEL actuators bring a variety of benefits to the customer of Artimus Robotics including the ability to operate in either force or displacement controlled methodologies. Additionally, the information gathered by the HASEL actuators during operation can provide information about the health or operating conditions of the actuators (example: failed vs operational) as well as 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. Please contact Artimus Robotics at info@artimusrobotics.com with any questions regarding 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 info@artimusrobotics.com.

HASEL actuators are made from three basic components: a flexible polymer film that forms a pouch, a dielectric liquid that fills the pouch, and flexible electrodes patterned on the outside of the pouch. Unlike other electrostatic actuator technologies, HASEL actuators have incredible versatility in the materials that can be used in their construction. These materials can be tailored for optimizing actuator performance for specific applications. HASEL materials are environmentally friendly and very low-cost. Polymer films for actuator pouches: The mechanical structure of the actuator consists of soft and deformable pouches made from thin polymer films. These films have the dual advantage of having both excellent mechanical and electrical properties. The mechanical properties are due to their use in the packing industry, and the electrical properties are due to their use in the film capacitor industry. In addition, the widespread availability of these films makes them very inexpensive. Electrodes: A key advantage of HASEL actuators lies in the fact that they do not require stretchable materials in their construction, despite being very compliant. This greatly expands the available materials and processes that can be used for HASEL electrodes. Typical electrode materials are ultrathin layers of flexible electrical conductors. These materials often borrow from the burgeoning industry of flexible electronics and can be deposited in precise configurations using a number of commercial methods. Since electrode geometry determines the function of a HASEL actuator, the ability to create precisely defined electrode patterns is crucial for actuator customization. Liquid dielectric: The liquid dielectric used in HASEL actuators can vary widely in properties to get a specific actuator response. For example, the viscosity of the fluid can be tuned to increase actuator response speed or to include passive vibration damping. Typical liquid dielectrics include transformer oils, but can also be as simple as consumer vegetable oils. Our most widely used liquid dielectric is currently a vegetable-based transformer oil that is biodegradable yet has excellent dielectric properties. Artimus Robotics is continuously developing actuator materials for specific performance capabilities - please reach out to us at info@artimusrobotics.com to check on the HASEL capabilities for your specific application. Click here for information on material safety considerations in 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.

This video provides an introduction to Artimus Robotics’ HASEL actuation technology. The primary components of HASEL actuators are: Thin polymer film Liquid dielectric Flexible conductor. How the HASEL actuator works: HASEL actuators are electrically controlled. A high voltage is applied to opposing electrodes positioned on either side of the HASEL actuator. This voltage induces an electric field across the liquid dielectric which introduces localized pumping of the liquid dielectric to drive shape change, which drives actuation or motion. HASEL actuators can be designed for contracting (C-Series), expanding (E-Series), or other unique motions. The electric control of HASEL actuators provides high control of the actuators. If you are interested in learning more about HASEL actuators please reach out to us 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.

This video discusses the benefits of Artimus Robotics’ core technology, HASEL actuators. These benefits can be customized for different applications and use cases. Potential benefits of HASEL actuators include: Electric Control. HASEL actuators are powered by electrostatics, meaning no need for pneumatic tubing, valves, and compressors. They can even be battery-powered. Fast Actuation Speeds. Due to the electric control, HASEL actuators are very fast, operating with turn-on times as low as 10ms (can be optimized even faster if needed) and operating frequencies into the 100s of Hz. Cost-Effective Materials. HASEL actuators are made from three core materials, thin plastic film, commodity liquid dielectrics, and commodity conductive ink. These low-cost materials make HASEL very cost-effective at scale. Compact. HASEL actuators can take many forms but often are best suited for centimeter-scale actuation. Soft Compliant Structure. Due to the use of liquids and thin plastic films, HASEL actuators are incredibly compliant and deformable - one of the softest actuator technologies that exist. Lightweight. HASEL actuators are very lightweight due to the use of thin polymer films and liquid dielectrics. No heavy motors or metal components here. Intelligent Self-Sensing. Using the capacitive nature of HASEL actuators, a basic impedance signal can be used to monitor the physical state of the actuator in real-time. Wide Bandwidth. HASEL actuators can operate at frequencies ranging from DC to 100s of Hz and be further optimized to go to even higher frequencies if needed. Silent Operation. HASEL actuators have no spinning motor or pneumatic pumps, they are very quiet, noiseless, and completely silent. Rapid Prototyping. Artimus Robotics has the unique ability to rapidly develop custom HASEL actuators of various sizes and shapes. Direct Linear Analog Motion. HASEL actuators use electrostatic principles to convert electric energy to linear motion. No spinning motors and gears. Long Product Life. HASEL actuators have demonstrated lifetimes as high as millions of cycles. Lifetime is highly dependent on use conditions, please reach out to inquire about lifetime in your application. Portable. As HASEL actuators are electrically operated, a battery-powered power supply allows HASEL actuators to be highly portable. Versatile Organic Motion. The combination of analog motion, electrically-driven, and compliant structures allow HASEL actuators to move in an extremely organic and lifelike manner. Easily Customizable. HASEL actuators are modular and Artimus Robotics is ready to make a custom actuator for your exact need. Please reach out to us to learn more. 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 performance indicator for HASEL actuators is force output as a function of stroke. These parameters are critical for ensuring that a HASEL actuator meets the requirements of a given application. Thanks to their versatility, the force and stroke of a HASEL actuator can be tuned by varying a variety of parameters that range from actuator geometry to the specific materials that are used. This document presents some general guidelines for how to tune the force and stroke of HASEL actuators. When describing actuator force and stroke, it is typical to note the blocked force and the free stroke. Blocked force is the force applied when there is no stroke, therefore this is the maximum force that can be applied by the actuator. Free stroke is measured when there is no load applied to the actuator and is the maximum stroke that can be achieved. As stroke increases from zero (at the blocked force), force output from the actuator will decrease exponentially until the force is zero at the free stroke. The plot below shows a representative force vs. stroke curve for HASEL actuators. Note that this curve is for a constant applied voltage. Voltage also affects force and stroke, but this won’t be discussed here. Contracting Actuators These actuators consist of rectangular pouches that are filled with a liquid dielectric. About half of the pouch is covered by electrodes. The pouch has a specific width and length. When activated, these actuators are designed to contract in the length direction. There are three simple methods for tuning the force and stroke of contracting actuators: 1. Number of pouches in series. Increasing the number of pouches in series (in the length direction of the actuator) will increase the free stroke. Blocked force will not be changed by increasing the number of pouches in series. However, for a given stroke, the force will be higher. The representative curves below show how force and stroke shift as the number of pouches in series is increased. 2. Number of actuators in a stack. Increasing the number of contracting actuators in a stack will increase the blocked force but will not change the free stroke. However, for a given force, the stroke will be higher. The representative curves below show how force and stroke shift as the number of contracting actuators in a stack is increased. 3. Width of the actuator pouch. Increasing the width of a pouch will increase the blocked force but will not change the free stroke. However, for a given force, the stroke will be higher. There are limitations to how much the pouch width can be increased and still see a proportional change in performance. Consult the experts at Artimus Robotics if you are interested in actuators with custom widths. The representative curves below show how force and stroke shift as the pouch width of a contracting actuator increases. Expanding Actuators These actuators consist of circular pouches that are filled with a liquid dielectric. A concentric pair of electrodes are located on the outside of the pouches. When voltage is applied, the electrostatic forces cause the electrodes to zip together and the pouches expand in thickness. Below are two common methods for tuning the force and stroke of expanding actuators: 1. Number of actuators in a stack. Increasing the number of expanding actuators in a stack will increase the free stroke but will not change the blocked force. However, for a given stroke, the force will be higher. The representative curves below show how force and stroke shift as the number of expanding actuators in a stack increases. 2. Number of actuators in an array or mechanically in parallel. Multiple stacks of expanding actuators can be placed in an array to increase the blocked force. This does not increase free stroke, but for a given stroke, the force output will be higher. The representative curves below show how force and stroke shift as the number of expanding actuators in an array increases. These are just a few simple ways to modify the force and stroke of HASEL actuators. Many of the standard products are variations of these parameters. Please contact us with the specific force and stroke requirements for your applications so that we can specify an actuator size, shape, and configuration that will meet your needs. 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.

Actuators are a main component in robotics, and they are devices that exert movement when energy is applied to them. There are several types of actuators, but linear actuators are the most common. Linear actuators are in many of our everyday devices, including our cell phones and vehicles. Compact actuators can be found in many devices because their small size allows them to fit into tight compartments, such as stage lighting systems, power door locks, and robotics controls. Small linear actuators don’t have the force of larger actuators, but their major advantages are less maintenance and a smaller footprint. Small electric linear actuators are also quieter than others. They don’t have any noisy valves, air, or pumps, so they can operate quietly while still offering peak performance. However, traditional small linear actuators are not ideal for every application. In some instances, they are too rigid or heavy for the application. Small pneumatic (air) actuators aren’t good for portable applications because it’s hard to move the air supply system. For these applications, a soft actuator, such as HASEL electric actuators, can be a better solution. HASEL actuators are soft electric actuators that offer a muscle-like performance. These actuators can be made in a variety of sizes to fit any custom robotics build. Ultimately, there are a wide variety of actuators available. Each has its pros and cons depending on the scenario they are used in. Still, if an application requires something even more flexible, a soft muscle-like actuator from Artimus Robotics is a great solution.

An actuator is the part of a device or machine that helps the machine achieve physical movement by converting energy into mechanical force. Actuators, specifically artificial muscles or muscle-like actuators, operate very similarly to the muscles in the human body. The goal of prosthetics is to deliver functionality to the user. Prosthetics not only give the wearer a sense of completion and emotional comfort, but they are also effective in making day-to-day tasks easier. The first recorded prosthetic is a big toe that belonged to a noblewoman in Egypt. This prosthetic dates between 950 to 710 BCE. This is significant because the big toe was important to Ancient Egyptians. They needed it to wear traditional Egyptian sandals. It could have been cheaper and easier to create a different type of shoe, but this evidence suggests that wearing traditional sandals was important enough to society and identity to create a prosthetic for the big toe. Today, prosthetics do a similar job of helping people function in society while offering comfort. Despite the development of prosthetics being a slow process, soft actuators have made great strides in the functionality of prosthetics. Because actuators operate similarly to muscles, scientists and medical professionals have been able to create prosthetics that allow the user to take full control of the limb. These advanced features have gone so far as to offer wrist pivoting, opposable thumbs, rotating risks, and temperature sensing capabilities. Most devices, from your cell phone to your television, utilize actuators. Actuators are the parts of a device that help the device achieve movement by converting energy to mechanical force. Actuators are ever-present in prosthetics, and the combination of technology and innovation has created some of the most advanced artificial limbs.

Artimus Robotics is nearing the completion of our Summer Internship Program for engineers. This program allows interns to work at Artimus Robotics full-time from May until August, gaining practical engineering experience in a fast-growing startup company. Thanks to a partnership with the University of Colorado, Artimus Robotics was able to host an impressive team of young engineers. The interning students have had a meaningful impact on the business, and the program has given them real-world experience in the robotics field that they can add to their resumes. “[The most rewarding aspect of the work is] that I’m constantly learning new things, and I get to see what the real manufacturing environment is like. Working in a startup has more challenges, and I have many opportunities to gain,” said Xingling (Kay) Yu, electrical engineering intern. “I love working at Artimus Robotics because of the culture and the people. If I need to take some time to refocus, I can do that. If I want to stay and work after hours on a problem, I can do that. Everyone working at Artimus Robotics is working there because they want to and enjoy the work, which makes for an incredibly enjoyable work culture every day,” said Andrew Brown, mechanical/electrical engineering intern. Artimus Robotics is pleased with the skill, enthusiasm, and professionalism of all of our interns. We can’t wait to offer more intern positions and programs in the future.

Actuators are integral to our lives, from electric door locks in vehicles to prosthetic limbs for amputees. An actuator is a device that converts energy into motion. The form of energy can be anything from electrical to hydraulic. Traditional actuators tend to be rigid, but as technology has advanced, actuators have as well. Actuators that can achieve muscle-like performance have been the future of robotics for a while. These actuators are more flexible, and they can be used in more settings than traditional actuators. Muscle-like, or artificial muscle, actuators work in two ways—contracting (pulling) or expanding (pushing) In our bodies, our muscles can only contract, or in other words, they can only pull. They cannot push, and because of this, muscles work in pairs. Think of it like your biceps and your triceps. When your bicep contracts, it bunches up and gets shorter, pulling the bone it is attached to. When it relaxes, your tricep is activated, and it pulls the bone back down. Contracting artificial muscles work this way as well. When power is applied to them, they contract and get shorter, pulling an object towards them. Expanding actuators work in a slightly different way. While they are still soft actuators with muscle-like performance, they work by expanding when power is applied. This can simplify the system design for applications that need pushing motions. In some applications, instead of antagonistic pairs of contracting actuators, expanding actuators can be used. Both actuators offer advancement to traditional actuators. Not only can they be soft, but they can also be quiet and highly efficient. Contracting and expanding actuators offer a muscle-like performance and can be integrated into any robotics project.

If you’ve ever been interested in robots, then you know robots have many moving parts. Robots have a control system, sensors, and a power supply at a minimum, but one of the most important parts of the robot is the actuator. In fact, robots are not even considered robots unless they have a body that can move in reaction to feedback from its sensors. Actuators provide this movement. When stimulated, actuators are essentially a robot’s muscles. Actuators are present in all robots, and the majority of robots use traditional rigid actuators. For some applications, these actuators work fine. However, in small-scale robotics, the space is more limited. To achieve a compact design, small-scale robotics often utilize soft actuators. Soft actuators have a flexible design and can take up less space by molding to the area they are given. Some soft actuators perform exactly like the muscles in your body, meaning they can only contract rather than expand. These types of actuators must work in antagonistic pairs. HASEL actuators also offer a muscle-like performance but do not always need to work in pairs. HASEL actuators can provide expanding or contracting motions depending on the needs of the application. HASEL actuators are also extremely quiet, allowing them to be used in applications where the noise level is a concern. Actuators are a major component in robotics, but as the robotics industry evolves and smaller robotics are created, soft actuators have become a necessity. Soft actuators are able to fit and mold to the space that is available as opposed to traditional actuators that have a rigid body. These actuators also offer a muscle-like performance in both expanding and contracting motions.