Electrohydraulic actuator based on multiple pouch modules for bending and twisting

Sohyun Kim, Youngsu Cha

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


There is a significant demand for the development of actuators capable of multimodal actuation for conducting the required tasks in an unstructured environment. In conventional mechanical systems, several components, such as motors, hinges, cranks, and complex controls, are utilized to realize various multimodal deformations. In this paper, we propose a multimodal actuator based on a soft structure without conventional components. The proposed actuator utilizes electrostatic and hydraulic forces to create diverse operating directions and modes. The actuator design presents a novel design that integrates the bending and twisting actuators based on a hydraulically amplified electrostatic mechanism. The combination of the input voltages of the electrode segments of the four-segment structure helps achieve bending and twisting motions. The multiple pouch modules interact with each other to generate the bidirectional multimodal motion. The results demonstrate the ability of the actuator to manage the direction and mode of operation using a special structure. This actuator achieves a tip displacement of up to 4.28 mm and a twisting angle of 9.8°. These soft electrohydraulic actuators will provide new design ideas for mobile robots, manipulators, and biomimetic applications.

Original languageEnglish
Article number113450
JournalSensors and Actuators, A: Physical
Publication statusPublished - 2022 Apr 16

Bibliographical note

Funding Information:
This work was supported by the National Research Foundation of Korea (NRF) through the Ministry of Science and ICT (MSIT), Republic of Korea , Korean Government under Grant 2020R1A2C2005252.

Funding Information:
The authors declare the following financial interests/personal relationships which may be considered as potential competing interests: Youngsu Cha reports financial support was provided by National Research Foundation of Korea.

Publisher Copyright:
© 2022 Elsevier B.V.


  • Bending
  • Electrostatic force
  • Hydraulic force
  • Soft actuator
  • Soft robotics
  • Twisting

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Instrumentation
  • Condensed Matter Physics
  • Surfaces, Coatings and Films
  • Metals and Alloys
  • Electrical and Electronic Engineering


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