ActXel: Electrostatic 3D Muscles for Agile Robotic Hands

The project aims to establish a new paradigm in bioinspired robotics by developing musculoskeletal (MSK) robots actuated by a new generation of electrostatic fiber actuators (EFAs) called ActXel. Current robots are limited by rigid electromagnetic (EM) motors that provide power and precision but lack compliance, or by soft pneumatic actuators that are adaptable but slow, bulky, and inefficient. The proposed work combines the strengths of both. We aim for a powerful, precise, and energy-efficient yet inherently safe and adaptable robot through innovations in actuation,
architecture, and control.

Our main objectives are to create ActXels and embed them into bioinspired muscles. First, we will design and fabricate ActXels that are cylindrical, lightweight, compact, and driven by compact direct-current electronics. Unlike existing elastomer actuators, ActXels promise faster response, higher power density, and greater efficiency while avoiding bulky compressors or heavy batteries. Second, these actuators will be assembled into bioinspired pennate artificial muscle architectures that integrate a serial elastic element and embedded sensing for enhanced control and safety. Third, an MSK robotic hand demonstrator will be built to showcase dexterity, strength, and versatility. Finally, its performance will be benchmarked against state-of-the-art tendon-driven electromagnetic robotic hands across tasks involving accuracy, efficiency, strength, adaptiveness, and robustness.