Electromechanical Coupling Model for Ionic Liquid Gel Soft Actuators

Figure 13

Relationships between the steady-state driving force of the robot and the length, thickness, and width of the free end of the actuator. (a) Actuator L₀ = 30 mm. (b) Actuator w = 5 mm. (c) Actuator thickness b = 0.5 mm.

(a)

(b)

(c)