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However, developing a multi\u2010DoF resonant DEA that benefits both from the maximized stroke outputs in resonant actuation and the versatility in multi\u2010DoF actuation remains a challenging task due to the slow responses of the widely adopted acrylic elastomers and the exponentially scaled complexity in the nonlinear dynamics. Herein, a multi\u2010DoF resonant DEA is reported by adopting four radially organized planar DE units fabricated by low\u2010loss silicone elastomers to output versatile programmable two\u2010dimensional quasi\u2010static and resonant trajectories. The rich nonlinear dynamics of the proposed quad\u2010unit DEA (QUDEA) are characterized and the critical parameters for two\u2010dimensional trajectory programming are uncovered through extensive modeling and experimental studies. To showcase the two\u2010dimensional trajectory programming capabilities of the QUDEA, demonstrations of Chinese characters writing and hummingbird flapping patterns mimicking using the proposed QUDEA are developed. The proposed QUDEA is expected to have potential in various applications such as in experimental biology, biomimetic robotics, and industrial manufacturing devices.<\/jats:p>","DOI":"10.1002\/aisy.202300865","type":"journal-article","created":{"date-parts":[[2024,3,1]],"date-time":"2024-03-01T03:10:39Z","timestamp":1709262639000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["A Quad\u2010Unit Dielectric Elastomer Actuator for Programmable Two\u2010Dimensional Trajectories"],"prefix":"10.1002","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0653-2740","authenticated-orcid":false,"given":"Chongjing","family":"Cao","sequence":"first","affiliation":[{"name":"Research Centre for Medical Robotics and Minimally Invasive Surgical Devices Shenzhen Institute of Advanced Technology (SIAT) Chinese Academy of Sciences  Shenzhen 518055 China"}]},{"given":"Chuang","family":"Wu","sequence":"additional","affiliation":[{"name":"Research Centre for Medical Robotics and Minimally Invasive Surgical Devices Shenzhen Institute of Advanced Technology (SIAT) Chinese Academy of Sciences  Shenzhen 518055 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4850-3008","authenticated-orcid":false,"given":"Xiaozheng","family":"Li","sequence":"additional","affiliation":[{"name":"Research Centre for Medical Robotics and Minimally Invasive Surgical Devices Shenzhen Institute of Advanced Technology (SIAT) Chinese Academy of Sciences  Shenzhen 518055 China"}]},{"given":"Lei","family":"Wang","sequence":"additional","affiliation":[{"name":"Research Centre for Medical Robotics and Minimally Invasive Surgical Devices Shenzhen Institute of Advanced Technology (SIAT) Chinese Academy of Sciences  Shenzhen 518055 China"}]},{"given":"Xing","family":"Gao","sequence":"additional","affiliation":[{"name":"Research Centre for Medical Robotics and Minimally Invasive Surgical Devices Shenzhen Institute of Advanced Technology (SIAT) Chinese Academy of Sciences  Shenzhen 518055 China"}]}],"member":"311","published-online":{"date-parts":[[2024,3]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41578-018-0011-1"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-020-03153-z"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.287.5454.836"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.abn0099"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2944592"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-019-1737-7"},{"key":"e_1_2_8_9_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abm8597"},{"key":"e_1_2_8_10_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eml.2020.100752"},{"key":"e_1_2_8_11_1","first-page":"2300047","author":"Tang C.","year":"2023","journal-title":"Adv. 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