Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation

<div>Tip bending deformation in the vertical/horizontal directions under 0.2 Hz actuation.</div>

Applied Bionics and Biomechanics

Figure 10: Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation 