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˚