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

<div>Rod-shaped IPMC-embedded multidegree-of-freedom bending tube actuator.</div>

Applied Bionics and Biomechanics

Figure 4: Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation 