Design and Characterisation of a Muscle-Mimetic Dielectrophoretic Ratcheting Actuator

The high potential impact of soft robotics is hampered by a lack actuators that combine high-force, high-work and high-power capabilities, limiting application in real-world problems. Typically, are tuned to an gearing - for example, trading power strain. An example recently developed soft-actuator which exploits such the dielectrophoretic liquid zipping (DLZ) actuator. DLZs can produce large strains ( $>\!99\%$ ) densities comparable biological muscles, but cannot achieve both single In this work, we introduce muscle-mimetic DLZ ratcheting actuator (DLZ-R) allows multiple DLZ-R heads operate parallel, thereby increasing force output without sacrificing stroke or power. We first characterise effect geometry on performance 1-head DLZ-R, before demonstrating force, scale linearly with number active heads. Next, investigate relationship between driving frequency output. Finally, demonstrate 12-head ratchet. believe represents step towards provide widespread use technologies.