Science Robotics

Supplementary Materials

Supplementary Material for:

Peano-HASEL actuators: Muscle-mimetic, electrohydraulic transducers that linearly contract on activation

Nicholas Kellaris, Vidyacharan Gopaluni Venkata, Garrett M. Smith, Shane K. Mitchell, Christoph Keplinger*

*Corresponding author. Email: christoph.keplinger{at}

Published 5 January 2018, Sci. Robot. 3, eaar3276 (2018)
DOI: 10.1126/scirobotics.aar3276

This PDF file includes:

  • Materials and Methods
  • Fig. S1. Heat-press used for sealing BOPP pouches.
  • Fig. S2. Fabrication process for Peano-HASEL actuators with hydrogel electrodes.
  • Fig. S3. Fabrication process for Peano-HASEL actuators with aluminum electrodes.
  • Fig. S4. Voltage signal with reversing polarity used during force-strain tests.
  • Fig. S5. Example of damage to aluminum electrodes after voltage cycling.
  • Fig. S6. High-speed contraction of Peano-HASEL actuators.
  • Fig. S7. Experimental setup used for frequency response tests of Peano-HASEL actuators.
  • Fig. S8. Full actuation signal for lever arm tests.
  • Fig. S9. Lifetime test for Peano-HASEL actuators.
  • Fig. S10. Dielectric breakdown tests for KOH-etched BOPP film.
  • Legends for Movies S1 to S6
  • References (47, 48)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Demonstration of actuation characteristics.
  • Movie S2 (.mp4 format). Actuation using integrated aluminum electrodes.
  • Movie S3 (.mp4 format). Scaling up forces with Peano-HASEL actuators.
  • Movie S4 (.mp4 format). Frequency response of Peano-HASEL actuators.
  • Movie S5 (.mp4 format). Demonstration of precise and rapid actuation.
  • Movie S6 (.mp4 format). Transparent Peano-HASEL actuators.

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