The decline in ocean health is a critical issue, requiring improved data on seabeds, coral reefs, seaweed forests, and marine life for effective conservation. Unmanned underwater vehicles (UUVs) are increasingly being used to collect this essential data. Traditional UUVs rely on thrusters, which can present problems such as noise pollution, limited manoeuvrability, inefficiency, and potential environmental damage. Furthermore, these thrusters are susceptible to getting tangled in weeds or fishing lines. To address these challenges, there is growing interest in biomimetic solutions that mimic natural systems. A promising development in this area is the use of HASEL (Hydraulically Amplified Self-healing Electrostatic) actuators, which are novel capacitive devices that can emulate the strain and force characteristics of mammalian muscles. These actuators offer a potential solution to the issues associated with conventional thruster systems. This work proposes the integration of HASEL actuators into a biomimetic UUV design. The feasibility of employing these actuators underwater is evaluated, focusing on aspects such as manufacturing, waterproofing, and implementation. A design is outlined for a HASEL-powered caudal swimmer, which mimics the tail propulsion of marine animals. The goal is to integrate this biomimetic technology into a remotely operated vehicle (ROV) provided by our commercial partner. Using artificial muscles, this project aims to enhance UUV efficiency, manoeuvrability, and environmental compatibility, ultimately improving our ability to monitor and protect marine ecosystems.
HASEL actuators for underwater robots
Electroactive Polymer Actuators, Sensors, and Devices (EAPAD) 2025 ; 2025 ; Vancouver, B.C., Canada
Proc. SPIE ; 13431
2025-05-12
Conference paper
Electronic Resource
English
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