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In this paper we present a dielectric elastomer actuator, which has the ability to sense the force acting on itwithout any additional sensing device. Basic physical b ehaviors of the dielectric elastomer are experimentallyinvestigated and it is noted that the impedance of the die lectric elastomer varies de pending on external forcesacting on it. Based on that concept, we propose the principle of a self-sensing actuator according to experimentalresult. In addition, a multi stacked actuator with self sensing capability is realized to validate its feasibility.Keywords: dielectric elastomer, self-sensing, actuator 1. INTRODUCTION During last decades, a great deal of researches on electroactive polymer actuators (EAPs) has been conductedwith remarkable progresses. Among them, dielectric elastomer actuator is one of the most prospectives because ofits large deformation and force, and cost eect iveness. 1 There are numerous dielectri c elastomers commerciallyavailable such as silicone, polyurethane, acrylic elastomer etc.

In this paper, we present a new artificial muscle actuator for the robotic applications, called multi-stacked actuator. This actuator is made from a new material, named synthetic elastomer previously developed by ourselves. The synthetic elastomer displays enhanced performance in terms of electrical as well as mechanical properties, which can be adjusted depending on its applications. The actuator is composed of the synthetic elastomer sheet coated with compliant electrodes on the both sides, connecting disks, spring, and rigid frame. This novel design enables the actuator to generate the large strain as well as the large force. Experimental works are performed to evaluate the actuation performance and the effectiveness of the actuator is validated.

In this paper we present a new artificial muscle actuator for rectilinear motion made of synthetic elastomer, which is mainly focused on the robotic applications. Previously, we have developed a new material for actuating means, named "synthetic elastomer". Synthetic elastomer allows their material properties such as mechanical as well as electrical properties to be adjusted according to the requirements. Using the synthetic elastomers made of the recipe adjusted for the robotic application, a new design of the artificial muscle actuator, called multi stacked actuator is proposed. The actuator is comprised of multiple stacks of synthetic elastomer coated with compliant electrodes and connecting disks. This unique design enables its linear actuation with the large strain of active length as well as large force. Experimental works are conducted and the effectiveness of the actuator is validated.