Advancing soft robotics: recent progress in dielectric elastomer and fluid actuators

Abstract

Soft robots offer an alternative to traditional rigid-bodied counterparts due to their mechanical compliance, adaptability, and enhanced safety. Particularly, soft dielectric-based actuators (i.e., dielectric elastomer and fluid actuators) enable lightweight designs, large strain outputs, high energy density, compatibility with electrical control, and fast response. This article reviews recent advances in this emerging field, including material innovations, fabrication methods, actuation modes, operational lifespan, failure mechanisms, control strategies, and applications, along with a critical analysis of current limitations and future directions.