**2. Background of DE**

To date, various types of soft actuators have been studied, and many functions desirable for different devices have been studied [7–31]. An especially attractive soft actuator is the dielectric elastomer (DE). DEs began to be studied in 1991 by R. Pelrine, S. Chiba et al. [16].

The basic element of a DE is a very simple structure comprised of a thin elastomer sandwiched by stretchable and flexible electrodes (see **Figure 2**) [24]. When a voltage difference is applied between the electrodes, they are attracted to each other by Coulomb forces leading to a thickness-wise contraction and plane-wise expansion of the elastomer. The typical thickness of the elastomers is about 500 microns to 1 mm. The electrode uses carbon black, CNT, or nano-sized metal. At the material level, the DE actuator has a fast speed of response (over 100,000 Hz), with a high strain rate (up to 680%), as shown in **Figure 3**, a high pressure, and a

**175**

position-sensors.

**Figure 4.**

*of 8 cm)).*

**Figure 2.**

**Figure 3.**

*Principle of operation of DEs.*

*Expanding Circular Actuator up to 680.*

power density of 1 W/g [32–34]. DEs can also be used for pressure-sensors and 3D

*A DE lifted a 8.0 kgf weight using SWCNTs (ZEONANO®-SG101) (ZEONANO®-SG101 is a single-wall carbon nanotube synthesized by the Super-Growth method. (Diaphragm type DE actuator having a diameter* 

to lift an 8 kg weight by 1 mm or more. Its operating speed is 88 ms.

As shown in **Figure 4**, recently, DE actuators having only 0.15 g of DE material have been able to lift a weight of 8 kgf easily using the single wall carbon nano tube (SWCNT) electrodes (ZEONANO®-SG101) [33]. With 0.15 g of DEs, it is possible

*The Challenge of Controlling a Small Mars Plane DOI: http://dx.doi.org/10.5772/intechopen.95507*

*The Challenge of Controlling a Small Mars Plane DOI: http://dx.doi.org/10.5772/intechopen.95507*

**Figure 2.** *Principle of operation of DEs.*

**Figure 3.** *Expanding Circular Actuator up to 680.*

**Figure 4.**

*A DE lifted a 8.0 kgf weight using SWCNTs (ZEONANO®-SG101) (ZEONANO®-SG101 is a single-wall carbon nanotube synthesized by the Super-Growth method. (Diaphragm type DE actuator having a diameter of 8 cm)).*

power density of 1 W/g [32–34]. DEs can also be used for pressure-sensors and 3D position-sensors.

As shown in **Figure 4**, recently, DE actuators having only 0.15 g of DE material have been able to lift a weight of 8 kgf easily using the single wall carbon nano tube (SWCNT) electrodes (ZEONANO®-SG101) [33]. With 0.15 g of DEs, it is possible to lift an 8 kg weight by 1 mm or more. Its operating speed is 88 ms.

**Figure 5.** *Roll actuator having 3-DOF.*

**Figure 6.** *Biologically inspired robots powered by DE rolls.*

When the DE sheet is rolled, it becomes an actuator that looks like a human muscle. **Figure 5** shows the roll actuators with 3-DOF [34]. As shown in **Figure 6**, a DE can be the arm or leg of a robot. Using five of them, we created a robot that can moves around the surface of Mars [34], so it enables sideways stepping like a crab without turning around, when it collides with wall.

These roll-type actuators seem to be ideal for moving the antenna or solar panel of a space craft to the correct position and as an actuator for a working robot arm on it. For example, a robot arm is attached to the Japanese experimental module

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**Figure 8.**

*2 m x 2 m Low-speed wind tunnel.*

drive source.

**Figure 7.**

**3. Experimental procedure**

while receiving wind.

**3.1 Experimental setup**

*The Challenge of Controlling a Small Mars Plane DOI: http://dx.doi.org/10.5772/intechopen.95507*

Kibo of the International Space Station (see **Figure 7**). It is possible to use DEs as the

*International Space Station: Kibo (Japanese experiment module) has a robot arm.*

In order to verify the possibility of using a DEA as a surface control actuator for the Mars exploration airplane, a wind tunnel was used to operate with the DEA

Using a continuously circulating low-speed wind tunnel (see **Figure 8**) owned

by JAXA (Japan Aerospace Exploration Agency), we conducted a verification

*The Challenge of Controlling a Small Mars Plane DOI: http://dx.doi.org/10.5772/intechopen.95507*

**Figure 7.** *International Space Station: Kibo (Japanese experiment module) has a robot arm.*

Kibo of the International Space Station (see **Figure 7**). It is possible to use DEs as the drive source.
