Table 1 Comparison and potential application of soft actuators in robotic
From: A Review of Smart Materials for the Boost of Soft Actuators, Soft Sensors, and Robotics Applications
| Soft actuator | Electrically response actuator | Thermally responsive actuator | Magnetically responsive actuator | Photoresponsive soft actuator | ||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Basic material | DE | Insulating liquid | IPMC | PVC | ER fluid | SMP | LCE | SMA | magnetic particles | Photoresponsive material |
| Response time | < 200 µs | 0.01‒0.05 s | > 2 s | < 0.2 s | ~10 −3 s | 10‒40 s | > 60 s | 0.2‒2 s | < 1 s | 1.8‒9 s |
| Advantages |
High energy density; Fast response; Lightweight Low noise |
Self-healing; Reliable |
High flexibility; Low driving voltage; Large bending |
Stable; Durable; Fast response; | Fully flexible | Variable stiffness |
Compliant; Reversible deformation | High energy density |
Small size; Noninvasiveness; High mobility; Untethered |
Simple structure; Miniaturization; Lightweight; Untethered |
| Limitations |
Dielectric breakdown; High voltage |
High voltage; Leakage |
Low efficiency; Limited lifetime | Electrical breakdown | Compliant and robustness |
Unidirectional deformation; Low efficiency | Limited efficiency | Uncertain fatigue behavior |
Magnetic interference; Low efficiency |
Low efficiency; Slow response |
| Application |
Biomimetic robots; Underwater robots; Grasping tasks, etc. |
Biomimetic structures; Grasping tasks, etc. | Underwater robots, etc. |
Micro electronics; Optical devices, etc. | Microfluidic diaphragm pumps, etc. |
Self-folding and self- reconstructing robots, etc. | Micro-soft robot, etc. | Underwater robots, etc. |
Micro Untethered robot; Submillimeter continuous robots, etc. |
Micromotor; Simulation of the flower bloom, etc. |