The soft bodied structures and systems for controlling such devices are described herein. The soft bodied structures can, through a series of soft hydraulic actuators, move from a first position to a second position by a somersaulting motion. The system can include connecting to a first contact point of the surface using a surface attachment. The rigidity of the controllably resistive material can then be increased. The medial hydraulic actuators can be actuated to expand the exterior medial surface, creating a bend. The device can then attach to a second contact point using the surface attachment and the end portion actuator of the unattached end portion. Then, the surface attachment of the first attached end portion can detach. The medial hydraulic actuators and the controllably resistive material can then relax, followed by detaching the surface attachment of the second attached end portion.

An example electrostatic machine includes a plurality of stator plates, each comprising a stator electrode, and rotationally fixed to a housing; a shaft at least partially defined within the housing and configured to rotate about an axis; a plurality of rotor plates, each comprising a rotor electrode, and rotationally fixed to the shaft; an electrical exciter configured to provide a modulating voltage to a selected electrical driving component, the selected electrical driving component comprising at least one of the stator electrode or the rotor electrode; and an electrical coupling circuit structured to electrically couple the electrical exciter to the selected electrical driving component, the electrical coupling circuit comprising: a power distribution board interposed between the exciter and a compliant electrical connection; and the compliant electrical connection interposed between the power distribution board and the selected electrical driving component.

An example electrostatic machine including a rotor stack comprising a plurality of a rotor plates each including a plurality of rotor electrodes positioned on each side of the rotor plate; and at least one rotor via comprising an electrical connection between the plurality of rotor electrodes on a first side of the rotor plate and the plurality of rotor electrodes on a second side of the rotor plate; and a stator stack comprising a plurality of stator plates, each including a plurality of stator electrodes positioned on each side of the stator plate; and at least one stator via comprising an electrical connection between the plurality of stator electrodes on a first side of the stator plate and the plurality of stator electrodes on a second side of the stator plate.

An example electrostatic machine includes a shaft configured to rotate about an axis; a rotor electrode and a stator electrode separated by a gap and forming a capacitor, wherein the rotor electrode is rotationally coupled to the shaft; wherein at least a portion of an exposed surface of the rotor electrode comprises a polished surface, and wherein at least a portion of an exposed surface of the stator electrode comprises a polished surface; a housing configured to enclose the rotor electrode, the stator electrode, and at least a portion of the shaft, wherein the stator electrode is rotationally coupled to the housing; and a dielectric fluid disposed between the rotor electrode and the stator electrode.

An example electrostatic machine including a shaft configured to rotate about an axis; a rotor electrode and a stator electrode separated by a gap and forming a capacitor, wherein the rotor electrode is rotationally coupled to the shaft; a housing configured to enclose the rotor electrode, the stator electrode, and at least a portion of the shaft, wherein the stator electrode is rotationally coupled to the housing; a dielectric fluid disposed between the rotor electrode and the stator electrode; and an accumulator fluidly coupled to the dielectric fluid.

An example electrostatic machine includes a rotor plate and an adjacent stator plate; wherein a first one of the rotor plate or stator plate comprises a coupled bearing; and wherein the other one of the rotor plate or stator plate comprises a race radially aligned with the coupled bearing.

An example apparatus including a rotor stage of an electrostatic machine, the rotor stage including a rotor plate, at least one rotor via, a rotor power distribution board including at least one rotor power distribution bus, at least one rotor power coupling perforation, and a rotor electrical coupling circuit; a stator stage of the electrostatic machine, the stator stage including a stator plate, at least one stator via, a stator power distribution board including at least one stator power distribution bus, at least one stator power coupling perforation; and a stator electrical coupling circuit structured to electrically couple the at least one stator power distribution bus to at least a portion of the plurality of stator electrodes, wherein the stator electrical coupling circuit extends through the at least one stator via and the at least one stator power coupling perforation.

An electrostatic machine including a rotor plate comprising a plurality of rotor electrodes, and rotatably fixed to a shaft; a stator plate comprising a plurality of stator electrodes; an excitation circuit electrically coupled to at least one of the rotor plate or the stator plate at a first end, and electrically couplable to exchange power at a second end with a selected one of an electrical power source or an electrical load; wherein the excitation circuit is configured to: in a first motoring mode, provide excitation power to at least one of the rotor plate or the stator plate, wherein the shaft provides positive torque to the load; and in a second generating mode, wherein the shaft receives negative torque from the load, operably couple at least one of the rotor plate or the stator plate to the electrical power source.

In various embodiments, a method includes (1) applying a first voltage and a first current to an electroactive device that includes a nanovoided electroactive polymer, (2) measuring a second voltage and a second current associated with the electroactive device, (3) determining at least one of a position or a force output associated with the electroactive device, the position or the force based on the second voltage and the second current, and (4) applying a third voltage and a third current to the electroactive device based on the at least one of the position or the force output. Various other methods, systems, apparatuses, and materials are also disclosed.

An example electrostatic machine includes a rotor plate and an adjacent stator plate, where the rotor plate or the stator plate includes a coupled bearing. The other one of the rotor plate or the adjacent stator plate includes a race radially aligned with the coupled bearing. The coupled bearing has a width with a first contact point on the first one of the rotor plate or stator plate and a second contact point on the race on the other one of the rotor plate or stator plate, where the coupled bearing is sized to maintain a minimum separation distance between the rotor plate and the stator plate.