RESUMO
Dielectric elastomer actuators (DEAs) are soft electromechanical transducers that have enabled robotic, haptic, and optical applications. Despite their advantages in high specific energy, large bandwidth, and simple fabrication, their widespread adoption is limited by poor long-term performance. While the mechanical work output has been studied extensively, the electrical energy input has rarely been characterized. Here we report a method to continuously monitor high voltage capacitance during DEA actuation to directly measure the electrical energy consumption. Our approach can track energy conversion efficiency, but also show changes in the device's properties in real-time. This unprecedented insight enables a novel way to study DEAs, evaluate degradation mechanisms, and correlate material structure to device performance. Moreover, it provides a data acquisition platform for data-driven optimization and prediction of long-term actuator performance. This work is a necessary step towards developing ultra-resilient DEAs and enabling a wide range of applications, from wearable devices to soft machines across different scales.