TABLE 1.
Comparison of actuators performance, inspired from Bhandari et al. (2012), Mohd Jani et al. (2014), Wang et al. (2018).
| Actuator type | Stress (MPa) | Strain (%) | Efficiency (%) | Bandwidth (Hz) | Work density (J/cm3) |
|---|---|---|---|---|---|
| NiTi SMA | 200 | 10 | 3 | 3 | 10 |
| Piezoceramic | 35 | 0.2 | 50 | 5,000 | 0.035 |
| Single crystal piezoelectric | 300 | 1.7 | 90 | 5,800 | 2.55 |
| Human muscle | 0.007–0.8 | 1–100 | 35 | 2–173 | 0.035 |
| Hydraulic | 20 | 50 | 80 | 4 | 5 |
| Pneumatic | 0.7 | 50 | 90 | 20 | 0.175 |
| Ionic polymer-metal composites | 0.3 | 40 | 30 | 0.1–100 | 0.0024 |
| Dielectric electro-active polymer | 2 | 100–380 | 60–90 | 1–10 k | 3.4 |