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Controlled stiffness is a solution to empower soft robots with the ability to apply large forces on their environments and sustain external loads without deformations. Herein, a compact, soft actuator composed of a shared electrode used for both electrostatic actuation and variable stiffness is described. The device operates as a dielectric elastomer actuator, while variable stiffness is provided by a shared electrode made of gallium. The fabricated actuator, namely variable stiffness dielectric elastomer actuator (VSDEA), has a compact and lightweight structure with a thickness of 930\u2009\u03bcm and a mass of 0.7\u2009g. It exhibits a stiffness change of 183\u00d7, a bending angle of 31\u00b0, and a blocked force of 0.65 mN. Thanks to the lightweight feature, the stiffness change per mass of the actuator (261\u00d7\u2009g<jats:sup>\u22121<\/jats:sup>) is 2.6 times higher than that of the other type of VSDEA that has no shared electrode.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202000069","type":"journal-article","created":{"date-parts":[[2020,7,24]],"date-time":"2020-07-24T00:36:02Z","timestamp":1595550962000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":33,"title":["Lighter and Stronger: Cofabricated Electrodes and Variable Stiffness Elements in Dielectric Actuators"],"prefix":"10.1002","volume":"2","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9003-6792","authenticated-orcid":false,"given":"Yegor","family":"Piskarev","sequence":"first","affiliation":[{"name":"Institute of Microengineering School of Engineering \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne  1015 Lausanne Switzerland"}]},{"given":"Jun","family":"Shintake","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Intelligent Systems Engineering School of Informatics and Engineering University of Electro-Communications  1-5-1 Chofugaoka, Chofu 182-8585 Tokyo Japan"}]},{"given":"Vivek","family":"Ramachandran","sequence":"additional","affiliation":[{"name":"Institute of Microengineering School of Engineering \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne  1015 Lausanne Switzerland"}]},{"given":"Neil","family":"Baugh","sequence":"additional","affiliation":[{"name":"Department of Chemical and Biomolecular Engineering North Carolina State University  911 Partners Way Raleigh NC 27695 USA"}]},{"given":"Michael D.","family":"Dickey","sequence":"additional","affiliation":[{"name":"Department of Chemical and Biomolecular Engineering North Carolina State University  911 Partners Way Raleigh NC 27695 USA"}]},{"given":"Dario","family":"Floreano","sequence":"additional","affiliation":[{"name":"Institute of Microengineering School of Engineering \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne  1015 Lausanne Switzerland"}]}],"member":"311","published-online":{"date-parts":[[2020,7,23]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2016.09.017"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_2_9_4_1","doi-asserted-by":"publisher","DOI":"10.1002\/anie.201800907"},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201504264"},{"key":"e_1_2_9_6_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-018-9754-1"},{"key":"e_1_2_9_7_1","doi-asserted-by":"publisher","DOI":"10.1039\/C7SM01617D"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/aacfe3"},{"key":"e_1_2_9_9_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mattod.2017.10.010"},{"key":"e_1_2_9_10_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.aau6419"},{"key":"e_1_2_9_11_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/9\/1\/016006"},{"key":"e_1_2_9_12_1","doi-asserted-by":"publisher","DOI":"10.1177\/1045389X19873411"},{"key":"e_1_2_9_13_1","doi-asserted-by":"publisher","DOI":"10.1063\/1.3263729"},{"key":"e_1_2_9_14_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2016.0034"},{"key":"e_1_2_9_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2692266"},{"key":"e_1_2_9_16_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201806698"},{"key":"e_1_2_9_17_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/26\/2\/025015"},{"key":"e_1_2_9_18_1","doi-asserted-by":"publisher","DOI":"10.1021\/acsami.8b07020"},{"key":"e_1_2_9_19_1","doi-asserted-by":"publisher","DOI":"10.1177\/1045389X08095270"},{"key":"e_1_2_9_20_1","first-page":"151","volume-title":"Lecture Notes Computer Science (Including Subseries Lecture Notes Artificial Intellignece and Lecture. 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