Fig. 1: Classification of actuators. | npj Robotics

Fig. 1: Classification of actuators.

From: Thin-film actuators (TFAs): a review

Fig. 1

Based on their holistic stiffness, actuators can be roughly classified into rigid actuators and soft actuators, while soft actuators can be further categorized into fiber, thin-film, and bulk types according to their initial topologies.

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