Force measurements of planar dielectric elastomer actuators

Soft actuators, such as dielectric elastomer actuators, are often optimized with a focus on achieving maximum deformation and flexibility. However, for practical use and integration into various applications, the generated force and the achieved work are also crucial parameters. Determining this force can vary in difficulty depending on the DEA design and the direction of displacement. For instance, for movements in plane along one or two axis like for equibiaxial dielectric elastomer actuators, the analysis of force is often not included. In this work, we present a custom-made setup for determining the force of planar dielectric elastomer actuators in uniaxial, biaxial and equibiaxial direction. Using this setup, the influence of different parameters like pre-stretch on the generated force are investigated and compared with the influence on the displacement. The experimental data is compared with an analytical model which analyzes the same devices with similar conditions. Understanding the influences of different design factors and external influences allows for future DEA designs that balance both force and strain, rather than focusing solely on maximum deformation.