Fig. 6: Piezoelectric artificial muscles for microrobotics.
From: A comparative review of artificial muscles for microsystem applications
a An untethered piezoelectric aerial vehicle powered by a photovoltaic array128. Copyright 2019 by Springer Nature. Reprinted with permission. b Fast-moving soft robot based on PVDF119. The motion is in an oscillatory center of mass trajectory pattern similar to a cockroach. Copyright 2019 by AAAS. Reprinted with permission. c A millimeter-scale Delta robot driven by three piezoelectric bending actuators126. Copyright 2018 by AAAS. Reprinted with permission. d Origami-inspired miniature manipulator with a remote center of motion for microsurgery127. Copyright 2020 by Springer Nature. Reprinted with permission
