Fig. 2: Study of triangular and rectangular soft actuators.
From: Origami-inspired folding assembly of dielectric elastomers for programmable soft robots
a Photos of the 12.5 mm-radius triangular actuator under different actuation voltages. b Photos of the triangular actuator after the first and 100th actuation cycles. c Optical images of the 11.75 mm-radius rectangular actuator under different actuation voltages. d Photos of the rectangular actuator after the first and 100th actuation cycles. e The relationship between the bending angle and the input voltage for the triangular (blue) and rectangular (orange) actuators. f The stability during 100 actuation cycles for the triangular (blue) and rectangular (orange) actuators
