Recent Advances in Dielectric Elastomer Actuator-Based Soft Robots: Classification, Applications, and Future Perspectives

Abstract

With the growing application of soft robot technology in complex, dynamic environments, the limitations of traditional rigid robots have become increasingly prominent, urgently demanding novel soft actuation technologies. Dielectric elastomer actuators (DEAs) have gradually emerged as a research focus in soft robotics due to their high energy density, rapid response, low noise, and excellent compliance. This paper systematically reviews the research progress of DEA-based soft robots over the past decade. Using classification and comparative analysis, DEAs are categorized into four basic types according to their initial shape-planar, saddle-shaped, cylindrical, and conical-with detailed elaboration on their working principles, structural features, and typical applications. Furthermore, from two major application scenarios (underwater and terrestrial), this paper analyzes the adaptability of various DEAs in robot design and corresponding optimization strategies and summarizes their performance and research challenges in bionic propulsion, multi-modal motion, and environmental adaptability. Finally, it provides the prospective future research directions of DEAs in material development, structural design, intelligent control, and system integration, providing theoretical support and technical references for their wide application in fields such as medical treatment, detection, and human-robot interaction.