Table 3. Comparison of the Properties of EAP, SMA, and EAC^a.

property	electroactive polymers (EAP)	shape memory alloys (SMA)	electroactive ceramics (EAC)
actuation strain	over 300%	<8% short fatigue life	typically 0.1–0.3%
force (MPa)	0.1–40.0	200	30–40
reaction speed	μs to min	ms to min	μs to s
density (kg·m–3)	1000–2500	5000–6000	6000–8000
drive voltage	10–150 V·μm–1 for electronic EAP, 1–7 V for ionic EAP	5 V	50–800 V
consumed power	m-W	W	W
fracture behavior	resilient, elastic	resilient, elastic	fragile

^aReproduced with permission from ref (50). Copyright 2019 Institute of Physics Publishing.