fig3

Figure 3. (A) Bending performances of the planar-type DEAs and the rolled-type DEAs of different driving frequencies in air and underwater; the stars in the figure represent the optimal work frequency for different conditions; (B) Bending performances of the planar-type DEAs and the rolled-type DEAs under optimal frequencies with different voltages; (C) Force measurement for the rolled-type DEAs; (D) Variation of output force under different driving voltage for the rolled-type DEAs; (E) Amplitude and phase response curve of DEAs under frequency sweeping test; (F) The experimental results of stress-strain behavior and fitting results using Mooney-Rivlin model with 5 parameters. Photograph taken by the authors (Figure 3C). DEAs: Dielectric elastomer actuators.