Bioinspired Soft Robot Driven by Transparent Artificial Muscle Transparency is one of the few forms of camouflage used by natural creatures in a habitat with any backgrounds. Dielectric elastomer actuators (DEAs) have important applications in many areas such as soft robots, artificial muscles and compliant devices. However, conventional DEAs cannot mimic the transparent appearance of natural creatures by using conventional materials like carbon grease as the compliant electrodes since carbon grease is a viscous black fluid. In this work, transparent artificial muscles are demonstrated by exploiting blends of poly(3,4ethylenedioxythiophene): poly(styrenesulfonate) (PEDOT:PSS) and waterborne polyurethane (WPU) as compliant electrodes. The PEDOT:PSSWPU blends are conductive and transparent solids, and the dielectric elastomer actuator artificial muscles can achieve a voltageinduced area strain of 200% with a transmittance of higher than 88% over the entire visible light spectrum. A transparent soft robot driven by these transparent artificial muscles is demonstrated. The fully transparent robot can vibrate asymmetrically at specific frequencies and demonstrate translational motion while keeping camouflaged in colorful backgrounds. The finite element analysis and experiments reveal the working mechanisms of the robot consistently. The concept of transparent actuators and transparent soft robots can guide the design of nextgeneration soft robots.

ElectricallyDriven Soft Fluidic Actuators Combining Stretchable Pumps With Thin McKibben Muscles Soft wearable robots could provide support for lower and upper limbs, increase weight lifting ability, decrease energy required for walking and running, and even provide haptic feedback. However, to date most of wearable robots are based on electromagnetic motors or fluidic actuators, the former being rigid and bulky, the latter requiring external pumps or compressors, greatly limiting integration and portability. Here we describe a new class of electricallydriven soft fluidic muscles combining thin, fiberlike McKibben actuators with fully Stretchable Pumps. These pumps rely on ElectroHydroDynamics, a solidstate pumping mechanism that directly accelerates liquid molecules by means of an electric field. Requiring no moving parts, these pumps are silent and can be bent and stretched while operating. Each electricallydriven fluidic muscle consists of one Stretchable Pump and one thin McKibben actuator, resulting in a slender soft device weighting 2 g. We characterized the response of these devices, obtaining a blocked force of 0.84 N and a maximum stroke of 4 mm. Future work will focus on decreasing the response time and increasing the energy efficiency. Modular and straightforward to integrate in textiles, these electricallydriven fluidic muscles will enable soft smart clothing with multifunctional capabilities for human assistance and augmentation.