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. 2017 Nov 27;114(50):13132–13137. doi: 10.1073/pnas.1713450114

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Copyright © 2017 the Author(s). Published by PNAS.

This open access article is distributed under Creative Commons Attribution-NonCommercial-NoDerivatives License 4.0 (CC BY-NC-ND).

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Fig. 4. — Dynamic characterization of a lightweight actuator. (A) A miniature linear zigzag actuator (weight ≈ 2.6 g, volume ≈ 32 cm³) and a common ping-pong ball (weight ≈ 2.5 g, volume ≈ 33.5 cm³). The actuator is primarily made of polyester sheets (skeleton thickness: 0.254 mm; skin thickness: 0.038 mm). (B) It can lift objects several orders of magnitude more massive using a negative internal air pressure (−80 kPa). (C and D) Dynamic performance in load-lifting tests. The actuator can lift a 1 kg load to 5.5 cm within 0.2 s (C). This indicates an average power density of ∼1.04 kW/kg. A peak power density over 2 kW/kg was obtained during the 2 kg load-lifting tests (D).