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62 UEC Int’l Mini-Conference No.53

EHD Technology applied to Soft

Robotics

Ahmed ROMAN* and Jun SHINTAKE
Department of Mechanical and Intelligent Systems Engineering
The University of Electro-Communications
Tokyo, Japan
Introduction Soft Robotic Actuators

• Soft robotics is an emerging field that focuses on
designing and developing flexible and adaptable robotic
systems. Traditional actuation methods, such as
pneumatics and hydraulics, often present limitations in
terms of bulkiness, noise, and energy efficiency.
• Electrohydrodynamic (EHD) technology offers a
promising alternative by enabling silent, precise, and
lightweight actuation. EHD-based actuation leverages the
manipulation of charged fluids and particles to generate Fig. 3: Example of Soft Robotic actuators.
motion, making it particularly suitable for miniaturized and
delicate robotic applications. PneuNet actuators are a class of soft robotic actuators that
rely on pressurized air to create deformation and motion. They
• This research explores the integration of EHD technology typically consist of elastomeric chambers that expand upon
into soft robotics, aiming to enhance control precision, inflation, producing bending or linear motion.
energy efficiency, and functional adaptability.
McKibben actuators, also known as pneumatic artificial
muscles (PAMs), are soft actuators that mimic biological
muscle function. They consist of an inflatable inner bladder
Examples EHD Technology? surrounded by a braided mesh. When air pressure is applied,
the actuator contracts, generating force and motion similar to
that of natural muscles.
Milestone

The aim of this project is to better understand the functioning of
EHD technology and explore its multiple applications on the
Soft Robotics field.

Pneunet McKibben
EHD Soft Actuator
• Check calculations to • Check calculations to
ensure good actuation. ensure good actuation. • EHD Soft Actuator
developed in house.
Fig. 1: Working principle of an EHD Pump. [1] • Optimize the design for the • Optimize the design for the
requirements of EHD Pump. requirements of EHD Pump.
• We envisioned it as a Self-
EHD Pumps (Electrohydrodynamic pumps) are devices • Build a Pneunet EHD • Build a McKibben EHD contained module capable
of generating mechanical
actuator.
actuator.
that use electric fields to induce fluid flow. output utilizing the merits
of EHD technology.
• Test Pneunet with EHD • Test McKibben with EHD
Pump. Pump.
They operate based on the principle of
electrohydrodynamic, which involves the interaction
between an electric field and a dielectric (non-conductive)
fluid. Conclusions
EHD pumps can be design to accommodate multiple • The working principle of an EHD Pump was explained, as well
shapes and forms, as long as they conform to the as showing the different configurations that exist to this day.
requirements of a pair of electrodes and a fluidic channel.
• The target applications of soft robotic actuators were
examined, leading to focusing on two well-known
configurations (Pneunet & McKibben).
• An EHD Soft actuator developed in house is envisioned for the
future.
References
[1] Y. Peng, D. Li, X. Yang, Z. Ma, and Z. Mao, “ A Review on Electrohydrodynamic (EHD)
Pump,” Feb. 01, 2023, MDPI. doi: 10.3390/mi14020321.
[2] V. Cacucciolo, J. Shintake, Y. Kuwajima, S. Maeda, D. Floreano, and H. Shea, “Stretchable
pumps for soft machines,” Nature, vol. 572, no. 7770, pp. 516–519, Aug. 2019, doi:
10.1038/s41586-019-1479-6.
Fig. 2: Examples of EHD Pump configurations. [2-3] [3] Y. Xin et al., “3D-Printed Electrohydrodynamic Pump and Development of Anti-Swelling
Organohydrogel for Soft Robotics,” Advanced Materials, 2025, doi:
10.1002/adma.202415210.
February 2025