Dielectric elastomers (DEs) are promising electroactive artificial muscles for use in soft machines. However, achieving anisotropy and sub-kV actuation voltage remains a great challenge for DE actuators. Herein, we report a facile method to fabricate ultrathin anisotropic DE films of an amorphous triblock copolymer poly(styrene-b-butyl acrylate-b-styrene) (SBAS) for soft actuators. The modulus of anisotropic SBAS in one direction can be modulated from 0.3 MPa to 10.5 MPa, and the modulus in the orthogonal direction remains the same as that of the pristine film (0.3 MPa). The anisotropy endows soft DE actuators with the directional-preferred response to an applied electric field and programmable multiple actuation morphs. These anisotropic SBAS films allowed us to fabricate compact soft robotics with high maneuverability, including soft grippers for object manipulation and crawling robots with reversible moving ability under an actuation voltage around 800 V.

中文翻译：

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各向异性的电活性弹性体，适用于高度机动的软机器人

介电弹性体（DEs）是有前途的电活性人造肌肉，可用于软机械。然而，对于DE执行器来说，实现各向异性和低于kV的执行电压仍然是一个巨大的挑战。在这里，我们报告了一种简便的方法来制造非晶态三嵌段共聚物聚（苯乙烯-b-丙烯酸丁酯-b）的超薄各向异性DE膜-苯乙烯）（SBAS）用于软执行器。可以将各向异性SBAS在一个方向上的模量从0.3MPa调节到10.5MPa，并且在正交方向上的模量保持与原始膜的模量相同（0.3MPa）。各向异性赋予软DE致动器以优先的方向响应于所施加的电场和可编程的多个致动变形。这些各向异性的SBAS薄膜使我们能够制造出具有高机动性的紧凑型软机器人，包括用于物体操纵的软夹具以及在800 V左右的驱动电压下具有可逆移动能力的爬行机器人。