The electrical response and self-sensing of the fully flexible PVC gel actuator based on flexible electrodes

There has recently been a substantial increase in interest in research on PVC gel actuators because of its numerous advantages over traditional actuators, such as low mass density, large actuation strain, great compliance, and simple manufacturing. However, the current PVC gel actuator is mainly based on the research of rigid electrodes, and there are few researches based on flexible electrodes. In this paper, a fully flexible actuator based on PVC gel film and carbon grease electrode has been prepared. The mechanical properties of the prepared PVC gels with different plasticizer ratios were tested. Three commonly used hyperelastic models (Neo-Hookean, Mooney-Rivlin and Yeoh models) were used to characterize the mechanical properties of PVC gels, and only the Yeoh model was found to be better for the characterization of the mechanical properties of PVC gels. In addition, we used the Prony series to successfully characterize the viscoelasticity of PVC gels. Then, the fully flexible PVC gel actuator (FFPGA) with long-time static and dynamic response characteristics was studied. It was found that the FFPGA has strong viscoelasticity when working. Finally, we proposed to simplify the FFPGA into a capacitor and designed a high-pass filter in the driving circuit. The self-sensing function of the FFPGA was achieved by superimposing a high-frequency low-voltage sensing signal on the low-frequency high-voltage driving signal as the input signal.