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I want to make a compact (actuators motors and sensors are all in one) soft robot. Actuators can be pneumatic or dielectric. I need suggestions about manufacturating. I'm open to new ideas.

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I think dielectric mechanism like piezo are suitable for compact designs. These might be usefull http://en.wikipedia.org/wiki/Piezoelectric_motor

https://www.google.com/patents/US4812698

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