Table 1 Pneumatically powered soft peristaltic robots and their performance.

This work (PSA)

21.9

22.3

E_f—56.3

C_f—9.72

Identical

P_l—1.23

G_r—0.71

P_i—0.65

R. Das et al. ²⁰

8.3

8.6

N/A

Identical

P_l—12.42 ± 3.7

G_r—4.38 ± 0.8

Zhijie Tang et al. ⁴⁷

9.1

N/A

N/A

Identical

P_l—0.67

P_i—0.5

Joey Z. Ge et al. ⁴⁵

33.6

N/A

N/A

Non-identical

P_l—7

S.P. Murali Babu et al. ⁴⁹

N/A

N/A

N/A

Identical

P_l—4.6

P_i—6.2

Yasemin O. Aydin et al. ⁴⁶

N/A

N/A

N/A

Non-identical

P_l—11.0 ± 1.6 (mm/cycle)

S. Yamazaki et al. ⁵⁷

N/A

23.6

E_f—78.7

Non-identical

P_i—4.38

Xiongbing Zhou et al. ⁴⁸

87.5

N/A

N/A

Non-identical

P_l—35 (mm/cycle)

Holam Heung et al. ⁵⁰

N/A

N/A

N/A

Non-identical

P_i—1.34

Yuki Tanise et al. ³³

N/A

28.3

N/A

Identical

P_i—5.84

Ariel A. Calderon et al. ⁵⁸

32.5

N/A

N/A

Non-identical

P_i—5

Megumi Ikeuchi et al. ³²

N/A

11

N/A

Identical

P_i—8.9