Supporting Information
Biodegradable electrohydraulic soft actuators
R. Kanno, F. Caruso, K. Takai, Y. Piskarev, V. Cacucciolo, J. Shintake*
This section presents a model to describe the voltage-strain response of biodegradable Peano-HASEL actuators with different external loadsapplied. The model is based on work in the literature for non-biodegradable HASELs [1,2]. A detailed description of the working principle of these systems is given in the result and discussion section. Here, we describe the mathematical model and all the assumptions.
Geometric assumptionsThe model considers only in-plane deformations and is based on the assumption that the shape of the liquid pouch, in each configuration, can be approximated by two symmetric circular arcs, as shown in Figure 1. With this assumption, the actuator stroke \(x\) is fully described by the angle at the zipping point \(\alpha\)