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

Figure 9

Experimental results in the vertical/horizontal directions: (a) tip deformation under sine input signals, (b) tip deformation under square input signals, (c) current responses under sine input signals, and (d) current responses under square input signals.

(a)

(b)

(c)

(d)