In this study, we demonstrate the development of a fast-response soft composite actuator fabricated by mechanical mixing of silicone elastomer (matrix) and ethanol (as phase-change fluid). Joule heating generated by electrical actuation causes a liquid-vapor transition of ethanol embedded in silicone microcapsules; provides the required pressure for mimicking the natural movements. We discuss the critical design variables to improve the temperature response, chemical composition, mechanical properties, force generated, and microstructure of soft actuator. Our soft actuator produces a high load-to-weight ratio (1000 times greater than its own) using a low-voltage source (˂20V). The stability of the soft actuator under multiple working cycles would bring the application to different robotic areas. The actuator using the mechanism presented here is easy to manufacture, automate, and recyclable. It can be used in a range of robotic applications.

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