Swinging paper actuator driven by conduction electrohydrodynamics

Hiroki Shigemune, Shigeki Sugano, Hideyuki Sawada, Shuji Hashimoto, Yu Kuwajima, Yuki Matsushita, Shingo Maeda, Vito Cacucciolo, Matteo Cianchetti, Cecilia Laschi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


Paper mechatronics has been proposed as a concept to fabricate robots with printing methods in our previous studies. Actuators fabricated by printing on a sheet material can be low-cost and lightweight. In this paper, we propose a swinging paper actuator driven by conduction Electrohydrodynamics (EHD). EHD is a phenomenon that generates flow by applying voltage to a dielectric liquid. The EHD flow is generated by the applied voltage in a wiring made by silver ink printed with an inkjet printer. The silver wiring was printed on a sheet of paper, and the paper with the wiring was folded manually to form its structure. We explored the possibility to manufacture EHD actuators by using the printing techniques developed in paper mechatronics. We expected to obtain high performance from the generated actuators due to the light weight of the paper printed structures. Finally, we succeeded in activating the swinging actuator by applying the high voltage to the paper electrode. We applied sine and square inputs, and investigated several characteristics. We found conditions to obtain the largest displacement in our situation. The swinging actuator proves a new concept to incorporate two alluring researches which are printed paper actuator and EHD phenomenon.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781538637418
Publication statusPublished - 2018 Mar 23
Externally publishedYes
Event2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China
Duration: 2017 Dec 52017 Dec 8

Publication series

Name2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017


Other2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017


  • Electrohydrodynamics
  • Inkjet printing
  • Paper mechatronics
  • Swinging actuator

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization
  • Modelling and Simulation


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