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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.

This video provides a brief history of the founding of Artimus Robotics, as well as a summary of the company today. History of Artimus Robotics 2015 - HASEL actuation technology began as academic research at the University of Colorado Boulder in the Keplinger Research Group. Inspired by past research of Dielectric Elastomer Actuators and Soft Fluid Actuators, HASEL actuation technology overcame the hurdles of prior technology while distilling the benefits. 2018 - Artimus Robotics was formed in late 2018 to commercialize HASEL actuation technology. Simultaneous publications in the academic journals Science and Science Robotics in early 2018 led to public press coverage in outlets such as Wired, National Geographic, and TedX which in turn led to inbound commercial interest and motivated the founders of Artimus to supply the need. 2019 - Artimus sold its first commercial actuators in early 2019 to the US Navy, which has since been a repeat customer 5x and counting. Artimus is honored to be supporting the US Navy in various highly important missions. 2020 - To fuel further development of the HASEL technology and foster additional business relationships, Artimus took its first outside investment led by Heroic Ventures and Hunt Technology. This investment was further supported by over $600k in government grants. 2021 - Artimus Robotics continues to grow its customer base through 2021 and has shipped its 1000th actuator. These HASEL actuators have been used by customers in automotive, medical, aerospace, defense, and industrial automation. In summary - Artimus Robotics designs and manufactures soft electric actuator technology inspired by natural muscles that was originally developed at the University of Colorado Boulder. To date, Artimus has 18 corporate partnerships, 8 patents in various stages including some granted, is venture-backed to field high business growth, and has received 4 government research grants to field high research growth. To learn how you can become a part of the next steps of Artimus Robotics,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.

HASEL actuators operate using direct current (DC) high voltages (3,000 - 10,000 V). This is necessary to generate the large electric fields required for actuation. Since the performance of the actuators is very dependent on the driving electronics, using the high voltage power supply designed and manufactured by Artimus Robotics is highly recommended in order to ensure the proper functionality of the devices. This specialized power supply generates the appropriate voltage for actuation and utilizes high voltage switches to safely charge and discharge the actuators. Please contact info@artimusrobotics.com for more information regarding our high voltage power supplies. If considering the use of different driving electronics, (such as third party power supplies) ensure that the high voltage power supply DC voltages output does not exceed 10,000 V. Additionally, procedures to ensure high voltage safety should be implemented following the guidelines supplied by the manufacturer of the high voltage amplifier. The amount of current that the actuators are allowed to draw will dictate their actuation speed, though the current can be limited to 1 milliamp for electrostatic discharge (ESD) safety with minimal effect on performance. As capacitive devices, the actuators have catch states, where they draw current when charged, but consume very little current (and therefore power) once they are charged to an applied voltage. However, care should be taken to ensure the actuators are properly discharged, otherwise they can hold a charge even if disconnected from the power supply, increasing the risk of accidental ESD to the user. Discharging the actuators can be achieved in a number of ways, but it is primarily done by setting the connected power supply to 0 V, using a resistor in parallel with the actuator that is rated for high voltage, or using a high voltage switch like a relay or optocoupler to connect the high voltage connection of the actuator to ground. Please contact us at info@artimusrobotics.com with any questions related to the electronics required to drive the 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.

Materials safety is a primary concern for many applications that use Artimus Robotics actuators. This is particularly important when actuators are in close proximity to people, food, or sensitive materials. Luckily, none of the materials used by Artimus Robotics are hazardous and many are commodity materials that have been proven to be safe for a variety of use cases. Below is some specific information regarding materials that are used in HASEL actuators: Films for actuator pouches: The basic structure of a HASEL actuator is made from thin polymer films. We use a variety of films depending on the requirements of the application. Our most common materials meet the following criteria: Does not contain toxic chemicals including but not limited to BPA and phthalates (DEHP, BBP, DINP, DBP, DnHP, DNOP, DIDP) Compliance with FDA requirements for food contact Compliance with CPSIA safety rules and government guidelines Pose no risk of cancer or reproductive hazards under the California Safe Drinking and Toxic Enforcement Act of 1986 (Proposition 65) Liquid dielectric: Our actuator pouches are filled with an insulating fluid or oil which can be made from a variety of materials. Many materials can be used for this purpose and some of them are even made from vegetable oils which have been developed to be environmentally friendly. Generally, the liquid dielectrics that we use comply with the following: Non-hazardous substance according to GHS classification Chemically stable under normal conditions No acute oral or dermal toxicity No skin or eye irritation Conductive electrodes: The electrodes in our actuators are made from a variety of conductive materials. The primary material used is a carbon-based material that is safe and non-toxic. Note: The information above is not comprehensive and is meant to provide a general overview. The specific safety considerations for materials in your application may vary. Please reach out to info@artimusrobotics.com with specific questions. 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.

Soft pneumatic actuators are actuators that use compressed air to create motion. These actuators are called “soft” because they are more flexible than traditional actuators, allowing them to be used avidly in the field of soft robotics. You can’t talk about soft actuators without discussing soft robotics. Soft robotics is a specific subfield of robotics that deals with constructing robots from highly flexible materials. These materials are similar to those that are found in living organisms. In fact, soft robotics is inspired by the way living organisms move and adapt to their surroundings. They are a contrast to robots that are built from rigid materials, and they allow for increased flexibility, adaptability, and improved safety when working around humans. Soft robotics can be used in the fields of medicine and manufacturing. In medicine, soft pneumatic actuators are highly customizable and lightweight, with versatility in their actuation modes and inherent compliance. Because of this, they are considered ideal for wearable rehabilitative devices. Soft pneumatic actuators can also be used in manufacturing because of their adaptability and improved safety. Their flexible design can prevent human injury. Another place where soft actuators and soft robotics can excel is in search and rescue. The search and rescue field inherently works in dangerous and potentially volatile conditions. This field also sometimes requires squeezing through small spaces, which soft actuators and soft robotics excel at. Built with a soft body and flexible materials, soft robots can squeeze through spaces rigid robots, or even humans, cannot fit through. Soft pneumatic actuators are actuators that are heavily used in the field of soft robotics, where flexibility and adaptability are a must. Soft pneumatic actuators use compressed air to create movements. Because of their lightweight design and inherent compliance, they are a great alternative actuator for wearable rehabilitative devices, use in the manufacturing field, and use in search and rescue robots. In some applications, the compliant characteristic of soft pneumatic actuators is desired but the pneumatic system is not available. Artimus Robotics offers a fully electric alternative with the same soft compliant characteristics as a soft pneumatic actuator.

When most people hear the term robot, they think of a highly advanced, artificially intelligent machine that can do dozens of daily tasks. A robot is defined as an electromechanical device capable of reacting in some way to its environment and making autonomous decisions or actions to achieve a specific task. This definition of robots excludes items like a toaster, lamp, or vehicle because they cannot perceive their environments. However, a self-propelling vacuum cleaner or a solar panel that seeks the sun are considered robotic systems. One of the most important components of your robotic build is the actuator. An actuator is a device that converts energy into physical motion, and the vast majority of actuators produce rotary or linear motion. Linear actuators are defined by force, rotary actuators are defined by torque. There are many types of actuators, but the three most common types of actuators are hydraulic, pneumatic, and electric. Hydraulic actuators use compressed oil to cause motion. They are most commonly used in heavy machinery, and they can generate very high force. Pneumatic actuators are very similar to hydraulic actuators. Instead of using compressed oil to cause motion, they use compressed air. Electric actuators use an electric current and magnets. An alternative to hydraulic and pneumatic actuators is artificial muscle actuator technology, which operates by converting electrostatic pressure to a linear force. Artificial muscle actuators don’t require a piston. Instead, the pressure creates a shape change, which can be designed to result in a linear force. If you’re interested in robotics, one of the most important parts of a robot is the actuator. An actuator is a device that converts energy into physical motion, and most actuators produce rotary or linear motion. The three major types of actuators are hydraulic, pneumatic, and electric, and picking the best one depends on what kind of robotic structure you are designing. For actuator applications in haptics, automotive, medical, consumer products, or industrial automation, HASEL actuators from Artimus Robotics are ideal because they are smart, controllable, customizable, silent, and fast. 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.

Conventional actuators use rigid and inflexible materials, and a growing alternative to conventional actuators is soft actuators. Researchers have begun to design robots out of soft, compliant materials because they are safer and more resistant to damage. They also have advanced many fields, including biometrics and orthotics. One of the most important components of soft robots is the actuator. An actuator is a component that moves and controls movement. In living organisms, our actuators are our muscles because they respond to stimuli, and then they bend and contract in different directions. Muscles can pull, but they cannot push, so they must work in antagonistic pairs. The field of robotics has taken a lesson from living organisms and created artificial muscles. Artificial muscles work the same way our muscles work. When activated, they expand or contract, and when released, they relax. The development of muscle-like actuators opens the door to build robots that can perform almost any task. Soft robots can be developed for miniature medical devices to be used in delicate surgeries, wearable exoskeleton or orthotics, and even larger structures for space and maritime exploration. Artimus Robotics has had a breakthrough in actuation technology by creating an actuator that offers smart, versatile, and compact motion solutions. HASEL (hydraulically amplified self-healing electrostatic) actuators operate when electrostatic force is applied to a flexible polymer pouch and dielectric liquid, resulting in a controllable shape change. HASEL actuator technology offers soft, muscle-like performance compared to the rigid components used in automated motion today. Traditional rigid components are costly, energy-consuming, and noisy. If you are looking for something inspired by nature, quiet, and energy-efficient, HASEL actuators may be ideal for your soft robotics application.

The future of robotics has seen a move away from rigid actuators and stiff materials towards soft robots and soft actuators. Soft robotics plays a pivotal role in tasks where rigid robots have failed, such as invasive surgery, prosthetics, and automation tasks involving delicate or irregular objects. Inflatable actuators are actuators that expand to create movement. They can be filled with pressurized gas or liquid. Historically, inflatable bladders were pneumatic systems, but recent developments at Artimus Robotics are producing electric inflating actuators, or digital bladders. These actuators have the advantage of being able to achieve large strokes, little friction, and offer distributed force. They don’t have to rely on high magnetic fields or high temperatures, both of which can be dangerous for orthotics or surgery. Inflatable actuators have various motion paths, including contraction, expanding, twisting, and bending. They all rely on the same physical properties, even if they create different motions. Inflatable actuators have many uses. One of the most obvious advantages to soft robotics and soft actuators is their intrinsic safety and the ability to mimic biological systems. Inflatable actuators and soft robotics will likely not replace existing rigid solutions, but they can offer advantages alongside them. In automation, inflatable actuators can complement systems where compliant soft grippers are desired because they can form around delicate objects. This bypasses the need for complex control algorithms. Inflatable actuators are particularly useful in the medical world, too. They can be used in a noninvasive sense, such as an active support splint to assist wrist motion or a robotic glove for hand rehabilitation. They can also be used for surgical applications, such as a catheterization tool or a cuff actuator to wrap around nerves for nerve stimulation. Inflatable actuators will play a prominent role in the future of robotics because of their large strokes, complex motion, and inherent safety. These actuators are able to mimic biological systems at a low cost, and they give way to a new world of applications.

This video discusses the core functionality, capabilities, and customizability of HASEL actuation technology, also known as HASEL artificial muscles. The unique capabilities of HASEL actuators include: Diverse motion - Beyond contracting and expanding motions, HASEL actuators can also produce bending, twisting, and other highly complex motions. Physical performance - The physical capabilities of a HASEL actuator depend on the specific geometry and design of the actuator. Typically, HASEL actuators are on the order of 1 to 10s of cm which results in maximum forces of 10-100s N, strains up to 100%, and frequencies from DC to 100s of Hz. All of these parameters can be optimized so please reach out to our design team to learn more. Unique environments - As HASEL actuators do not contain any air, they are pressure agnostic, making them well suited for unique environments (high altitude or space, and deep sea). Additionally, the materials can be optimized to work in a wide range of temperatures, with typical ambient temperatures being the most common operating range. Intelligence - HASEL actuators use capacitive sensing techniques to determine the position or force of the actuator in real time. This self-sensing enables HASEL actuators to be smart, providing highly valuable feedback on the actuator performance and operation. To learn how your specific use case could make use of these capabilities of HASEL actuators, please reach out to us at info@artimusrobotics.com to set up an introductory call. 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 actuator lifetime is a common discussion point when reviewing specifications. This critical metric can mean a lot of things depending on the application, but one useful way to measure lifetime is in cycles to failure, which is appropriate for numerous applications where actuators undergo cyclic operation. There is no single number for the lifetime of a HASEL actuator as it depends on many factors, such as: Actuator materials Actuator geometry Operating conditions (driving voltage, frequency, etc.) Additionally, actuator failure generally occurs due to dielectric breakdown in the insulating materials. These dielectric breakdown processes are inherently statistical in nature, leading to a distribution of lifetime values, often following a Weibull distribution. A key advantage of HASEL actuators is their ability to use materials that are inexpensive yet have excellent dielectric properties, such as thin polymer films widely used in the high-performance capacitor industry. These materials give Artimus electric linear actuators the potential to achieve very high cycle lifetimes. Current HASEL actuators have average lifetimes that range anywhere from tens of thousands of cycles to millions of cycles, depending on their design and the demands of the particular application. Artimus Robotics recently completed a Phase I SBIR award from the National Science Foundation (NSF) that focused on characterizing failure modes in HASEL actuators and improving their lifetime. The lifetime was doubled throughout the course of the grant (Figure 1). Additional geometry and material optimization - and efforts to suppress common failure modes of linear electric actuators - led to proof of concept actuators with up to 20x higher lifetime (Figure 1). HASEL technology is continuously improving, and through strategic partnerships, we are working to further improve actuator lifetime for the demands of industrial and consumer applications. There are a few strategies for customers looking to maximize the lifetime of their HASEL actuators: Reduce the actuation voltage: reducing the actuation voltage will decrease the force output of actuators, but it will also increase their lifetime. Decreasing the actuation voltage from 8kV to 6kV can lead to a 10x increase in actuator lifetime for our C-5015 series actuators. Avoid rapid changes to applied voltage: Actuation signals such as step functions create a larger electrical stress in the actuators and can lead to reduced lifetime. Using signals with a lower slew rate will generally increase the lifetime and reliability of actuators. Ensure the electric linear actuator is properly sized for the application: Artimus Robotics specializes in optimizing actuators for specific applications. Contact Us to review the specifications with the engineers at Artimus Robotics. About SBIR The Small Business Innovation Research (SBIR) and Small Business Technology Transfer (STTR) programs are highly competitive programs that encourage domestic small businesses to engage in Federal Research/Research and Development (R/R&D) with the potential for commercialization. Through a competitive awards-based program, SBIR and STTR enable small businesses to explore their technological potential and provide the incentive to profit from its commercialization. By including qualified small businesses in the nation's R&D arena, high-tech innovation is stimulated, and the United States gains entrepreneurial spirit as it meets its specific research and development 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.

HASEL actuators offer very unique motion compared to traditional actuators. Similarly unique is the linear actuator power supply. HASEL actuators are powered by high voltage Direct Current or DC. While the use of high voltage often leads one to think about large transformers and high power consumption, this is not the case with HASEL actuators. In fact, HASEL actuators operate with very low current and thus have extremely low electrical power consumption. As is the case with many motion technologies, the electrical power consumption of HASEL actuators is dependent on the application and operating conditions. The key factors that dictate the amount of power consumed by the actuators are: The driving voltage which corresponds to the mechanical force The operating frequency or turn-on speed The number/size of actuators dictates the mechanical performance. Importantly, HASEL actuators are capacitive devices so their primary power consumption occurs only during the charging (or turn on) portion of an actuation cycle. When actuation is desired and a voltage is applied across the electrodes, the actuator draws current until it is fully charged and thus fully actuated. The faster the desired actuation, the faster the voltage will be applied (usually ramped) and the resulting current (and thus electrical power) will be greatest and vice versa. As a HASEL actuator is a capacitor, as it charges up (and actuates) the current draw exponentially decays to a very low amount. This capacitive charging behavior of the HASEL actuators also implies that if the desired operating frequency or turn-on time is low, the resulting electrical power consumption can be extremely low. Linear actuator power supplies for HASEL actuators are often custom produced for the specific actuator and operating condition. For a sense of scale of the expected power consumption in your application, the standard HASEL development kit can be considered. This particular portable power supply produces a maximum of 5 watts but often operates at considerably lower power during operation. The figure below shows the power draw of an actuator (C-5015-06-01-B-AAAB-50-096) that is driven to 8 kV by the portable power supply. Notice that the actuator only draws power when it is being charged to the applied voltage (from time = 0 s to time = 0.1 s). Once at the desired voltage, which corresponds to a specific actuation state, the actuator consumes only milliwatts or less of power to maintain that state. How efficient is a HASEL Actuator? As with any electromechanical system, the energy efficiency of a HASEL actuator is highly dependent on the operating conditions, expected use, and other system considerations. Basic academic studies of the electromechanical efficiency (total mechanical work out of actuator/total electrical energy into the actuators) have demonstrated typical values between 15-25% efficiency. Additional considerations, such as switching (often optocoupler or HV MOSFETs, DC-DC converter, and other electrical components) can impact the efficiency of the HASEL actuator. If your application is highly sensitive to efficiency, please reach out to the team at Artimus Robotics to discuss the R&D progress in materials and system design to better evaluate your expected real-world efficiency. How does the efficiency of a HASEL actuator compare to other actuator technologies? The power consumption of other technologies greatly depends on the application and specifications of the device. Electric motors (e.g. servo motors) and pneumatic systems can consume anywhere from hundreds of milliwatts to hundreds of watts depending on their size and driving conditions. Electric motors generally have an electromechanical efficiency ranging from 70-90%, whereas pneumatic systems are much lower, ranging from 10-20%, due to inefficiencies associated with pumping a fluid through systems of tubes and valves. For some applications, the low energy and high efficiency of HASEL actuators can provide both energy and cost savings. Whether your organization has sustainability goals aimed at removing energy-intensive pneumatic systems, or you have a portable requirement and the system will be deployed for long periods of time, the engineers at Artimus Robotics would love to talk with you about how HASEL actuators could help you realize your high efficiency, low electrical energy consumption goals. 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.

Ensuring a good fit between an Artimus Robotics HASEL actuator and a specific application requires a comprehensive understanding of the application details and specifications. Ensuring a good fit between an Artimus Robotics HASEL linear actuator and a specific application requires us to to understand the linear actuator sizes you might need. Example questions to help this understanding include: What is the purpose of the actuator? How is it operating in the application? What is critical/required and what is a target/goal for the actuator? What is the consequence of failure? What will the actuator be interacting with in the system? A clear understanding of the above questions increases the likelihood of success of the actuator in the application. However, most important to success is correctly sizing the actuator. HASEL actuators are designed for specific operating conditions, so choosing an ideal size means the actuator is working as intended. To size a linear actuator, the following specifications are required: Force Stroke Available space Actuator response time Actuation frequency Lifetime Duty cycle The two size-driving specifications are force and stroke. Without these specifications, an actuator cannot be analytically sized. The rest of the specifications are also important for ensuring overall fit, but force and stroke are the most important specifications. Without these, only a trial and error method of linear actuator selection can be used. Artimus Robotics has a useful tool for communicating application information and specifications. The Application Assistant tool, available on the Artimus Robotics website, walks through the application information and specifications in a step-by-step manner and delivers the information directly to the engineers at Artimus Robotics for review. Once reviewed, Artimus Robotics can recommend an actuator solution for the application. All customers are encouraged to use this tool to efficiently convey specification information to Artimus, and the tool’s prompts ensure that important information is not unintentionally left out of consideration. The tool even allows customers to communicate the importance of different characteristics, for example, if lightweight solutions are preferred over standard solutions. Finally, the tool accepts controls preferences information to help the engineers at Artimus Robotics plan for how the actuator will be controlled. Use the Application Assistant to be confident that the recommended actuator solution is optimized for your application! About Artimus Robotics Artimus Robotics designs and manufactures soft electric actuators. The technology was inspired by nature (muscles) and spun out of the University of Colorado. HASEL (Hydraulically Amplified Self-healing ELectrostatic) actuator technology operates when electrostatic forces are applied to a flexible polymer pouch and dielectric liquid to drive shape change in a soft structure. These principles can be applied to achieve a contracting motion, expanding motion, or other complex deformations. For more information, please visit Artimus Robotics or contact info@artimusrobotics.com.