Confining Nano-ZrO₂ in Nanodomains Leads to Electroactive Artificial Muscle with Large Deformation

Dielectric elastomers generate muscle-like electroactive actuation, which is applicable in soft machines, medical devices, etc. However, the actuation strain and energy density of most dielectric elastomers, in the absence of prestretch, have long been limited to ∼20% and ∼10 kJ m