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

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)