Conventional robots are mainly made of rigid materials, such as steel and aluminum. Recently there has been a surge in the popularity of soft robots owing to their inherent compliance, strong adaptability and capability to work effectively in unstructured environments. Of the multitude of soft actuation technologies, dielectric elastomer actuators (DEAs), also nicknamed ‘artificial muscles’, exhibit fast response, large deformation and high energy density, and can simply be actuated with electric voltage. In this paper, we will discuss applications of DEAs to soft robots, including robotic grippers, terrestrial robots, underwater robots, aerial robots and humanoid robots. We will survey the state of the art regarding these interesting applications and outline the challenges and perspectives. As we know, there have been extensive studies on dielectric elastomer technology in the aspects of materials, mechanics, design, fabrication and controls. To enable practical applications, efforts are underway to decrease operational voltages, improve reliability, and impart new functionalities. Key challenges include the development of freestanding actuators, untethered operation, smart/electronics free actuators, solid and stretchable electrodes, miniaturization, combination of synergistic actuation technologies to impart novel functionalities, development of effective control strategies, etc. We hope that this review can facilitate and enhance applications of dielectric elastomer technology to soft robots.

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Transparency is a surprisingly effective method to achieve camouflage and has been widely adapted by natural animals. However, it is challenging to replicate in synthetic systems. Herein, a transparent soft robot is developed, which can achieve effective camouflage. Specifically, this robot is driven by transparent dielectric elastomer actuators (DEAs). Transparent and stretchable conductive polymers, based on blends of poly(3,4‐ethylenedioxythiophene):poly(styrenesulfonate) (PEDOT:PSS) and water‐borne polyurethane (WPU), are employed as compliant solid‐state electrodes in the DEAs. The electrode exhibits large stretchability, low stiffness, excellent conductivity at large strain, and high transmittance. Consequently, the DEA can achieve a large voltage‐induced area strain of 200% and a high transmittance of 85.5%. Driven by these soft actuators, the robot can realize translations using its asymmetric vibration mode, which can be explained by dynamics analysis and is consistent with finite element modeling. This soft robot can achieve effective camouflage, due to its high transparency as well as thin structure. Furthermore, the robot can become completely flat for even better camouflage by converting its 3D structure to 2D. The transparent soft robot is potentially useful in many applications such as robots for battlefield, reconnaissance, and security surveillance, where effective camouflage is required in dynamic and/or unstructured environments.

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Existing stretchable capacitive sensor arrays face challenges in decoupling normal forces and stretch stimuli which restrict its applications into soft robotics. Herein, a metamaterial capacitive sensor array with 6 × 6 sensors is developed for the detection of normal forces on curved deforming surfaces common to both the soft universal jamming gripper and human elbow. The fabrication process involves the 3D printing of carbon black thermoplastic polyurethane (PI–ETPU) electrodes and thermoplastic polyurethane (TPU) insulation based on commercially available multimaterial fused deposition modeling (FDM). This metamaterial capacitive sensor array is unaffected by a uniaxial stretch of up to 21.6% and remains capable of detecting normal forces. The sensor array structure possesses a negative Poisson's ratio which is desirable for improving compliance and conformability to adhered expanding surfaces. Consequently, normal force‐distribution and proximity detection capabilities on curved deforming surfaces are demonstrated on a soft universal jamming gripper for measuring gripping forces and identifying object shapes. Conformal force‐sensing joint wearable on a human elbow with an individualized Poisson's ratio is explored as another application. The possibility of programming Poisson's ratio of a metamaterial capacitive sensing array opens new avenues for potential sensing applications into soft robotics and personalized wearables.