Actuator Type | Total Length (mm) | Outer Diameter (mm) | Torque Output (mN.m) | Bending Angle |
Tendon Drive Actuator [23] | 35 | 12.5 | 5.7 - 17.5 | 45˚ |
Double-Screw Drive Actuator [24] | 50 | 30 | High | 45˚ |
Pneumatic Drive Actuator [25] | 50 | 35 | N/A | 120˚ |
Fluidic Drive Actuator [26] | 78.4 | 9.6 | 26.39 | 125˚ |
New Latching-Type Electromagnetic Actuator | 31.6 | 10 | 34 | 30˚ |