Low-cost high-voltage power supply for hydraulically amplified self-healing electrostatic applications

HASEL (Hydraulically Amplified Self-Healing Electrostatic) actuators have gathered momentum in recent years; they are made of very-low-cost materials, making it easy for anyone to develop their own actuators, and they are "soft" and can achieve tasks that are very difficult to complete with traditional rigid actuators, e.g., grasping soft objects. Unfortunately, HASEL actuators are driven by high-voltage (HV) power supplies, which are expensive to control accurately and difficult to scale up for multichannel applications, e.g., prostheses. This paper presents a low-cost HV power supply designed for HASEL applications that generates 2-10 kV DC at 5% of the cost of the existing HV power supplies used in HASEL actuators. At the core of our design, there is a new control strategy based on controlling the charging and discharging of the actuator from the supply's low-voltage (LV) side rather than switching the HV side with expensive HV optocouplers. Discharge is achieved via a secondary transformer and multiplier circuit, generating a negative HV output capable of discharging the HASEL effectively and safely up to 10 kV.