Abstract: A tubular elastomer actuator with a shape in a cross-sectional view which shape exposes at most one single axis of symmetry of a specific length, e.g., an oval shape. The actuator could be made from a sheet made from a plurality of plate shaped elements which are laminated together and rolled. Each plate shaped element may have a corrugation that gives the element an anisotropic structure, and contains an electrode on only one surface. The actuator displacement is the result of shrinkage displacement of the plate shaped elements upon the application of electrical field across their thickness.

Abstract: A tubular elastomer actuator with a shape in a cross-sectional view which shape exposes at most one single axis of symmetry of a specific length, e.g., an oval shape. The actuator could be made from a sheet made from a plurality of plate shaped elements which are laminated together and rolled. Each plate shaped element may have a corrugation that gives the element an anisotropic structure, and contains an electrode on only one surface. The actuator displacement is the result of shrinkage displacement of the plate shaped elements upon the application of electrical field across their thickness.

Abstract: A tubular elastomer actuator with a shape in a cross-sectional view which shape exposes at most one single axis of symmetry of a specific length, e.g. an oval shape. The actuator could be made from a sheet made from a plurality of plate shaped elements which are laminated together and rolled. Each plate shaped element may have a corrugation that gives the element an anisotropic structure, and contains an electrode on only one surface. The actuator displacement is the result of shrinkage displacement of the plate shaped elements upon the application of electrical field across their thickness.

Abstract: A tactile sensor element includes a first pressure transfer layer and a second pressure transfer layer, an elastomeric body arranged between the first and second pressure transfer layers, the body having a first and a second surface opposed to each other, the first and second surfaces having corrugations to allow displacement of elastomeric body material in a predetermined direction perpendicular to the corrugations when exposed to a contact pressure on at least one of the surfaces, a first electrode arranged on the first surface and a second electrode arranged on the second surface, the first and the second electrodes being connectable to external means for determining the capacitance of a capacitor formed by the elastomeric body and the electrodes, where at least one pressure transfer layer has at least one portion of increased thickness. Further disclosed is a tactile sensor array comprising a plurality of sensor elements.