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 loadsF applied. 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 \(\alpha\)