HASEL-UI is a design toolkit to prototype shape-changing user interfaces based on hydraulically amplified self-healing electrostatic (HASEL) actuators. Recently developed HASEL actuators promise fast, compliant, and silent actuators for soft robots, but their integration into human-computer interfaces can be challenging due to unique design, operation principle, and fabrication processes. In this work, I formulated a design space based on novel actuators and application scenarios for HASELs. I also developed a software tool to aid the design, visualization, and fabrication of shape-changing primitives.
Embedded new type of HASEL Actuator (Crescent actuator) on thin film sheets for character animation with Voltage OFF (a,c); and Voltage ON (b,d). Each of the ears has an actuator underneath.
Appearance and disappearance of textual information based of HASEL-UI.