A minimal number of rigid constraints makes soft robots versatile, but many of these robots
use soft pneumatic actuators (SPAs) designed to inflate through a single trajectory. In an …

Soft electrohydraulic actuators known as HASEL actuators have attracted widespread
research interest due to their outstanding dynamic performance and high output power …

Electroadhesive clutches have attracted a great deal of interest in the last decade as semi-
active actuators for human-robot interaction due to their lightweight, low power consumption …

The compliance nature of soft robots permits them to effectively adapt to various challenging
environments, but at the cost of poor payload carrying capabilities and lack of precision in …

This work presents a novel actuator system consisting of a combination of shape memory
alloy (SMA) wires with electrostatic clutches. The proposed combination of smart material …