HASEL Actuators Activated with a Multi-Channel Low-Cost High Voltage Power Supply

Hydraulically Amplified Self-Healing Electrostatic (HASEL) actuators promise a future of adaptive robotics in a world where robotics is becoming increasingly integrated into our daily lives. Adaptive robotics needs to control multiple outputs with precision and speed. Unfortunately, expensive High Voltage control restricts the development of the HASEL actuator for commercial applications. This paper demonstrates a low-cost multi-channel High Voltage Power Supply (HVPS). The HVPS takes a 6 V input and controls multiple HASEL actuators from 0 to 10 kV, with a slew rate of up to 117.7 kV/s. In addition to controlling multiple channels, the low-cost HVPS can control two outputs with a single control module in an alternating pattern, similar to the way muscles control movement in alternating sequences-e.g., biceps and triceps. Previous work has shown that this low-cost HVPS is 95% cheaper than other power supplies used in the field of HASEL actuators. This work builds on the work reducing the cost of the HVPS by an additional 40%. This low-cost HVPS also reduces the amount of input required for control from four PWMs to one PWM with enable pins, drastically improving the performance of the device for multi-channel operation.