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Stretchable Electrohydraulic Artificial Muscle for Full Motion Ranges
in Musculoskeletal Antagonistic Joints
Amirhossein Kazemipour1, Ronan Hinchet1, Robert K. Katzschmann1
Abstract— Artificial muscles play a crucial role in muscu-
loskeletal robotics and prosthetics to approximate the force-
generating functionality of biological muscle. However, cur-
rent artificial muscle systems are typically limited to either
contraction or extension, not both. This limitation hinders
the development of fully functional artificial musculoskeletal
systems. We address this challenge by introducing an artificial
antagonistic muscle system capable of both contraction and ex-
tension. Our design integrates non-stretchable electrohydraulic
soft actuators (HASELs) with electrostatic clutches within
an antagonistic musculoskeletal framework. This configuration
enables an antagonistic joint to achieve a full range of motion
without displacement loss due to tendon slack. We implement a
synchronization method to coordinate muscle and clutch units,
ensuring smooth motion profiles and speeds. This approach
facilitates seamless transitions between antagonistic muscles at
operational frequencies of up to 3.2 Hz. While our prototype
utilizes electrohydraulic actuators, this muscle-clutch concept
is adaptable to other non-stretchable artificial muscles, such as
McKibben actuators, expanding their capability for extension
and full range of motion in antagonistic setups. Our design
represents a significant advancement in the development of
fundamental components for more functional and efficient
artificial musculoskeletal systems, bringing their capabilities
closer to those of their biological counterparts.
I. INTRODUCTION
A. Motivation
Advancements in robotics increasingly draw inspiration from
the versatility and adaptability of natural organisms. Hybrid
rigid-soft robots, which integrate soft materials into rigid
structures [1]–[4], aim to replicate the seamless movements
and dexterity found in nature. Soft elements provide com-
pliance at critical points, such as contact interfaces [5], and
soft muscles attached via tendons to a rigid skeleton generate
motion around passive joints. This design paradigm offers
significant advantages over conventional rigid robots [6]–
[8], including reduced power requirements for equivalent
torque, enhanced joint accuracy, and a more streamlined form
factor [9]. By decoupling actuators from the load-bearing
structure and joints, musculoskeletal robots also achieve
greater payload capacities compared to entirely soft robots.
The performance of musculoskeletal robots hinges on both
skeletal design and the efficacy of their artificial muscles.
Revolute joints, or hinges, are the most prevalent in articu-
lated robots, providing a uniaxial degree of freedom as seen
in human finger and toe joints. More complex joints like
knees and elbows permit slight rotations or shifts, adding
to mechanical complexity. Soft muscles, often arranged in
1Soft Robotics Lab, ETH Zurich, Switzerland
{akazemi, rhinchet, rkk}@ethz.ch
Fig. 1: Overview of the proposed artificial muscle system enabling
full motion range: (A) In antagonistic setups with non-stretchable
muscles, if the tendons are taut, the motion is blocked since
these muscles cannot elongate. (B) Adding slack permits movement
but reduces the motion range. (C) Our solution uses electrostatic
clutches and muscles to enable contraction and extension, restoring
full motion range.
antagonistic pairs akin to biological biceps and triceps,
actuate these joints. To mimic this biological functionality,
musculoskeletal robots employ both soft fluidic [10]–[13]
and electromagnetic [14]–[16] actuators.
Pneumatic Artificial Muscles (PAMs), such as McKibben
muscles, were among the earliest soft artificial muscles.
arXiv:2409.11017v1 [cs.RO] 17 Sep 2024
Comprising an inflatable bladder within a non-stretchable
shell, they contract upon inflation. PAMs are still prevalent
in complex bio-inspired robotic systems like the Shadow
Hand C3 [17], offering excellent strength-to-weight ratios.
However, they are limited by slow response times and, in
untethered systems, the cumbersome requirement for com-
pressors, tanks, and valves.
To overcome these limitations, various types of soft ar-
tificial muscles have been developed [18]. Notably, Hy-
draulically Amplified Self-healing Electrostatic (HASEL)
actuators [19] have emerged as a promising alternative by
combining soft fluidic actuation with electrostatic forces.
HASELs consist of oil-filled pouches partially covered with
electrodes. When activated, the electrodes compress and
redistribute the oil within the pouch, causing it to inflate and
contract similarly to biological muscles. Initially, HASELs
utilized silicone elastomer substrates for flexibility [19], but
challenges like pull-in instabilities compromised control.
This led to the adoption of thin thermoplastic polymer
substrates such as Biaxially Oriented Polyethylene Tereph-
thalate (BOPET) [20], offering improved durability and me-
chanical properties. Using Polyvinylidene Difluoride (PVDF)
terpolymer substrates further reduces actuation voltage by
fivefold while maintaining force and strain performance [21].
However, a significant drawback is that these thermoplastic
substrates render HASELs non-stretchable, akin to McK-
ibben muscles.
B. Problem Statement
An important design limitation of musculoskeletal robots
is the use of non-stretchable artificial muscles, such as
McKibben and HASEL actuators, in antagonistic configu-
rations (e.g., on either side of a hinge). In the human arm,
the biceps (agonist) contracts to move the arm, while the
triceps (antagonist) relaxes to allow movement. However, in
robots, non-stretchable muscles cannot relax and elongate the
antagonist, preventing the agonist’s contraction and blocking
arm motion (Fig. 1A).
One solution is to introduce slack in the antagonist’s
tendon, allowing the agonist to contract and bend the arm
(Fig. 1B). However, to straighten the arm back, the slack
must be limited to a maximum of half of the muscle con-
traction amplitude, restricting effective muscle contraction
to 50%. This significantly limits the motion range and
introduces latency, hindering the robot’s performance.
Alternatively, incorporating linear clutches in series and
synchronized with the muscles can utilize the full muscle
contraction. Clutches dynamically block or couple motion,
enabling variable stiffness systems. When put in series
with muscles, they can disengage the triceps during biceps
contraction to bend the arm and vice versa to straighten it
back, allowing 100% utilization of muscle contraction. This
approach, however, depends on clutch size, weight, holding
force, elasticity, and power efficiency.
Existing clutches [22] are mostly rigid. While pneumatic
and vacuum jamming clutches can be soft, they require bulky
pumps and valves. Electromagnetic clutches, though popular
and efficient, are heavy and power-consuming. Mechanical
latches reduce power usage but are slow and complex. Mag-
netorheological fluid designs [23] are simpler but heavier,
and Piezoelectric clutches [24] are lighter and more efficient
yet rigid and complex. These clutches are unsuitable for
musculoskeletal robots due to their lack of compliance, high
mass, and complexity.
The recent development of electrostatic clutches (ES-
clutches) offers superior force-to-mass (<104) and force-
to-power ratio (<105) [25]. ESclutches are fast, thin (sub-
millimeter), light, compact, and flexible [26]. They consume
minimal current, and their holding force is adjustable via
driving voltage [27]. They have been integrated into tex-
tile [26], [28] in wearable robotics for haptic feedback [27]
and exoskeletons [29]. ESclutches are well-suited to com-
plement HASELs in musculoskeletal robots, but such a
combination has never been evaluated to actuate antagonistic
muscle configurations.
C. Contributions
In this paper, we introduce a novel contractile artificial mus-
cle system capable of stretching by: (1) combining HASEL
actuators with ESclutches in series; (2) integrating this hybrid
system into a musculoskeletal structure with antagonistic
muscles; and (3) demonstrating the synergistic operation of
HASELs and ESclutches to enhance limb motion (Fig. 1C).
The combination of HASEL actuators and ESclutches
is advantageous as both are thin, flexible, and based on
electrostatic, enabling fast and efficient actuation using high
voltages and low currents for safety. This facilitates seamless
integration and control, with driving circuits that can be
combined and miniaturized to a few cubic centimeters [21].
This work presents the first evaluation and demonstration
of such a hybrid actuation system in a musculoskeletal
framework.
II. METHODOLOGY
This section details our solution, covering theoretical anal-
ysis, design and characterization of the clutch and HASEL
actuator, their integration into a unified muscle capable of
both extension and contraction, incorporation into an antag-
onistic joint musculoskeletal system, and control methods for
smooth operation.
A. Theoretical design analysis
We consider a robotic system articulated with a pin joint
and actuated by a pair of HASEL muscle packs in an
antagonistic configuration. The HASEL packs are connected
to the joint via tendons that have slack equal to 50% of the
HASEL strain σat the operating force Fhand voltage. In
this configuration, integrating a stretchable ESclutch in series
with the HASEL muscle packs eliminates the need for tendon
slack. This integration offers two primary options: either a
50% reduction in HASEL length for the same motion or a
doubling of the usable HASEL strain, thereby increasing the
limb’s range of motion.
We consider a HASEL pack with length Lhand width
Whconnected in series with an ESclutch of the same width
Wc=Wh, featuring a surface friction force density Pcat
a given operating voltage. The clutch length Lcrequired to
transmit the HASEL force to the limb is:
Lc=Fh/(PcWh)(1)
If we opt to decrease the HASEL length, the new shorter
length L′
hbecomes:
L′
h= 0.5×Lh(2)
The ESclutch is packaged with a soft elastic textile sleeve,
adding an elastic component when not actuated. This creates
resistance when the opposite HASEL contracts. Assuming a
textile thickness Ttand an elastic modulus Etthat remains
linear and constant under small deformations, the maximum
resistance force Ftof the opposite clutch is:
Ft=σ(L′
h/Lc)×EtWhTt(3)
To compensate for this resistance, the HASEL must be
slightly stronger. A simple approach is to increase its width.
The new HASEL width W′
his:
W′
h=Wh+FtWh/Fh(4)
Alternatively, if we maintain the original HASEL dimensions
to increase the range of motion, it must exert more force
to compensate for the elastic resistance of the antagonistic
clutch. According to the HASEL stress-strain curve, an
increase in force will reduce the strain. Consequently, the
usable strain will be slightly less than doubled.
A limitation of ESclutches is their theoretical maximum
strain of 100%, which imposes a minimum clutch length and
width Wc:
Lc≥σL′
h(5)
Wc=Fh/(PcLc)(6)
Additionally, practical considerations such as attachments
and packaging require extra space, which can impact per-
formance.
B. Electrostatic Clutch Characterization
ESclutches were designed and fabricated following the pro-
cess described in [27]. Each ESclutch consists of two 5 cm
by 5 cm electrodes that can slide on each other (Fig. 2A).
They are composed of 125 µmthick PET films with 50 nm
thick Al electrodes on top. The electrodes are separated by
a6µmthick PVDF terpolymer film deposited on one of
them (Fig. 2B). Electric wires are connected at extremities,
and holes are drilled for attachment. Finally, the ESclutch is
placed between 2 pieces of soft stretchable textile, having
Young’s modulus of around 0.1 MPa [27], for protection
and to ensure return to its original position upon release.
The resulting clutch is 6 cm wide and 9 cm long including
casing and is 1 mm thick in total for a weight of 4.4 g. Inside,
the electrodes overlap is 15 cm2in its released state, and the
clutch can stretch up to 44% or 4 cm.
ESclutches were characterized by applying a symmetric
square voltage at 10 Hz between the electrodes and then
pulling on the attached clutch using a force sensor until the
electrodes slide. This gave us the maximum holding force
Fig. 2: Overview of the ESclutch design and force range. (A)
Structure of the ESclutch describing its different layers and (B)
photo of the ESclutch showing its thin and compact format. (C)
Characterization of the maximum holding force of the ESclutch as a
function of the voltage applied up to 150 V with a 10 Hz AC square
signal, which shows that it can sustain 8.41 kg. (D) Illustration of
the ESclutch behavior under actuation.
of the clutch depending on the applied voltage (Fig. 2C).
It shows that our clutch can hold 4.25 kg when actuated
at 100 V (Fig. 2D) which is equivalent to a shear stress
of 2.8 N cm−2. But the clutch can easily block 8.41 kg at
150 V if needed for a bigger robot. This corresponds to a
shear stress of 5.6 N cm−2, which is on the same order of
magnitude as [26]. Such a clutch can usually lock in 5 ms
and release in 15 ms.
C. HASEL Characterization
Thermoplastic-based HASEL actuators consist of a non-
stretchable yet flexible shell encapsulating a liquid dielectric,
flanked by electrodes (Fig.3A). When voltage is applied,
the electrodes attract, squeezing the liquid and redistributing
it within the actuator (Fig.3B). As the pouch deforms, the
actuator contracts.
HASELs were fabricated following the process in [30].
Each pouch measures 4.5 cm wide and 2 cm long, with
50% electrode coverage. The shell is a 15 µmthick heat-
sealable Mylar sheet. Black carbon inks serve as electrodes,
with silicone oil as the dielectric fluid. The HASEL muscle
comprises 8 pouches (Fig. 3C), totaling 16 cm in length and
weighing 13.7 g.
Fig. 3: Overview of the HASEL actuator design and force range. (A)
Structure of one HASEL pouch describing its constitutive layers and
(B) zoom-in photo of HASELs at the relaxed and contracted state,
which show the bulging and contraction of the pouch when actuated
at 8 kV with a DC square signal. (C) Photo of one HASEL pack
of 8 pouches in series. (D) The force-displacement characterization
curves of the HASEL depend on the applied voltage and show that
the actuator can generate a force up to 16.3 N or a displacement
up to 18.0 mm when actuated at 8 kV .
HASEL actuators exhibit nonlinear force-displacement
curves (Fig. 3D), obtained by anchoring one end to a load
cell, applying force to the other, and tracking motion with
a laser sensor. HASELs show higher displacement at lower
loads and vice versa. This characteristic is crucial for robotic
system design, requiring consideration of the specific force-
strain curve to meet load and displacement targets. HASEL
performance can be customized by adjusting geometry, struc-
ture, and materials.
D. System Integration
An articulated limb was constructed by connecting a carbon
fiber tube with a 3D-printed PLA joint and ball bearings to
a12 cm-long tube weighing 3.8 g. On the limb, electrostatic
HASEL-clutch units were connected in series and arranged
antagonistically (Fig. 4). Fishing line tendons were attached
to the ends of the electrostatic HASEL-clutch units and were
taut when the limb was in the middle position.
Fig. 4: Musculoskeletal robotic joint actuated with the HASEL-
clutch units. When the bottom HASEL-clutch unit is in the ’Off-
Off’ state, it can elongate, and by setting the top HASEL-clutch
unit to the ’On-On’ state, the limb moves upward. For downward
motion, the operation is reversed.
For design optimization, we considered the fabricated
HASELs of 4.5 cm wide and 16 cm long generating a force
of 1 N at a strain of 8% at 8 kV; and the fabricated clutches
generating a friction force density of 5.5 N cm−2at 150 V
and packaged with 1 mm thick stretchable textile (elasticity
modulus 100 kPa).
According to eq. (1), a clutch of 0.18 cm2or 0.4 mm in
length and 4.5 cm in width would theoretically suffice to
transmit the HASEL force. However, this size would limit
stretchability and increase resistance from the antagonistic
clutch’s elastic sleeve. Therefore, we oversized the clutch
to enhance blocking force, reduce strain, and minimize
resistance, which is crucial for high-speed switching and
minimizing leg resonance. Additionally, the packaging was
designed to maintain system modularity.
E. Control Strategy
Fig. 5: State diagram for HASEL-clutch control. Each HASEL-
clutch pair can be in one of four states: State 1 (on/off), State 2
(on/on), State 3 (off/off), and State 4 (off/on). Transitions between
states enable coordinated limb movements and braking.
Our system is actuated using four control signals: two
for HASEL actuators and two for clutches. Achieving a
full range of motion requires synchronizing these signals
through a state machine logic with a feedforward control
strategy. Clutches are driven by an AC symmetric square
wave at 10 Hz to optimize the release speed and the locking
force. For HASELs, we use ramp signals to control their
displacement, as it is proportional to the applied voltage. The
linear lever arm design ensures that HASEL displacement
directly translates to joint angles.
Synchronization between clutches and HASELs is essen-
tial for effective musculoskeletal operation. When a clutch
is ”off,” it allows stretching; when ”on,” it locks the limb.
Similarly, a HASEL in the ”on” state contracts, and in the
”off” state, it releases contraction. Figure 5 illustrates the
possible states of a HASEL-clutch pair.
To move the limb rightward, the left HASEL-clutch pair
is set to State 3 (off/off) and the right pair to State 2
(on/on), causing the right HASEL to contract and its clutch to
lock, thereby moving the limb right. Leftward movement is
achieved by reversing these settings. Additionally, engaging
the opposite clutch allows for rapid stopping by controlling
the braking force through the ESclutch’s voltage-dependent
friction [27]. This enables variable stiffness and impedance
in the joint, enhancing control speed and responsiveness.
III. RES ULTS AN D DISCUSSIONS
A. Experimental Setup
The setup included four high-voltage amplifiers (one Trek
20/20C, one Trek 610E, two PolyK PK-HVA10005) to power
clutches and HASEL actuators. An RLS-RM08 magnetic
encoder measured joint angles, and a NI DAQ 6343-USB
acquired data. MATLAB with data acquisition toolbox con-
trolled the system, sending commands to amplifiers and
recording voltages and joint angles via the DAQ.
B. Experimental Validation
Fig. 6: Comparison of joint range of motion achieved with (A) a
configuration using only HASEL actuators for actuation without
clutches versus (B) the integrated muscle-clutch mechanism. De-
spite identical actuation of the HASEL actuators, the muscle-clutch
system enables an increased range of motion of ±82◦over the
muscle-only arrangement of ±52◦.
Both muscle mechanisms—HASELs with and without ES-
clutches—were evaluated on the artificial limb setup (Fig. 6)
using the same voltage command (a ramp signal with a peak
of 8 kV) and frequency (2.5 Hz), as well as identical tendon
anchor points. With only HASELs and optimized tendon
slack, the limb rotated 52◦(Fig.6A). In contrast, combining
ESclutches with the same HASELs increased rotation to
82◦(Fig. 6B), resulting in approximately a 58% increase
in usable strain in an antagonistic muscle configuration.
Fig. 7: Experimental results comparing HASEL-only and HASEL-
clutch systems. Applied voltages to left/right clutches and HASELs
are shown, along with resulting joint angle transitions. The graph
demonstrates smooth motion across increasing actuation frequen-
cies, with the HASEL-clutch solution consistently achieving a
higher range of motion compared to the HASEL-only system while
increasing the actuation frequency up to 3.2 Hz.
The faster actuation speed of ESclutches compared to
HASELs facilitates their synchronization, allowing them to
be engaged simultaneously. Additionally, since their force
is proportional to the applied voltage—and the ESclutch
operates at a lower voltage than the HASEL—it is possible to
control both using a single voltage source (the high voltage
of the HASEL) with a simple voltage divider supplying the
ESclutch. This greatly simplifies the control electronics.
We tested the HASEL-clutch system by actuating it at dif-
ferent frequencies. Figure 7 displays the actuation patterns,
where we alternately activated the right and left HASELs
along with their respective ESclutches. The coordinated
voltage patterns, up to 3.2 Hz, demonstrate smooth limb
movements without abrupt discontinuities. The resulting joint
angle shows seamless transitions between states. Figure 8
presents snapshots of the joint in motion at 2.5 Hz, illustrat-
ing rapid, cyclic movements with a wide range of motion.
t = 0.40s t = 0.45s t = 0.50s t = 0.55s t = 0.60s
Fig. 8: Snapshots of the experiment where the joint is cycling at a freq. of 2.5 Hz, achieving a bidirectional range of motion of ≈160◦.
0 0.5 1 1.5 2 2.5 3 3.5
Frequency (Hz)
60
80
100
120
140
160
180
200
Max. Range of Motion (Deg)
Without Clutch
With Clutch
Fig. 9: Maximum range of motion versus actuation frequency for
the HASEL-only and clutch-muscle actuated joint. Range of motion
expands at higher frequencies due to stretchable clutch sleeves
acting as a series elastic component, allowing storage and release of
elastic energy to enhance actuation force and motion range. Smooth
transitions are observed up to 3.2 Hz.
IV. CONCLUSION AND FUTURE WORK
In this paper, we presented a novel approach to create an
artificial muscle that can perform both contraction and ex-
tension movements. Our design combines HASEL actuators
with ESclutches. We integrated these components into a
musculoskeletal system and utilized these HASEL-clutch
units to drive an antagonistic actuated joint. This design
enabled us to achieve complete functionality of the muscles,
ensuring a full range of motion without losing displacement
due to slack.
One limitation of this study is the lightness of the limb.
Investigating the impact of added load on limb motion
would be valuable. Additionally, the current vertical setup
benefits from gravity aiding the limb’s return to the neutral
position. Studying the system horizontally would provide
better insight into the role of the series elastic component in-
troduced by the clutch. Modeling the system could optimize
the clutch’s elasticity for specific resonance frequencies to
maximize amplitude at desired speeds. The released HASEL
could also assist in returning the limb, requiring more
complex synchronization.
Notably, our approach is not restricted to electrostatic
actuators alone. It can also be applied to other types of non-
stretchable muscles, such as McKibben’s muscles [31], [32]
allowing them to extend and achieve full range of motion in
an antagonistic setup. This versatility highlights the potential
broad applicability of our solution in advancing artificial
muscle technology.
V. ACK NOWLEDGMEN TS
We thank Piezotech-Arkema for providing the P(VDF-TrFE-
CTFE) polymer used to fabricate the ESclutches. This work
was supported by the SNSF Project Grant #200021 215489.
Their support was instrumental in the development of this
research.
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