  This report presents research conducted on amplified self-healing
electrostatic (HASEL) actuators. HASEL actuators are comprised of a dielectric
fluid sealed between two inextensible layers with bonded, flexible electrodes
on its outer surface. When charge is applied to the electrodes, Coulomb force
compresses the fluid and causes the actuator to contract. In this work a
faster, more customizable and convenient way of creating a HASEL actuator is
presented, using a laser engraver to heat-seal and cut polypropylene sheets.
Using this technique, a hydraulically actuated soft lens is fabricated and
demonstrated.
