fig10

Figure 10. Five-actuator piezoelectric soft robot. (A) Cross-section of the demonstrated prototype, 500 mm long and 20 mm wide, with a 50 mm-long high-friction film applied at the bottom of each end; (B) Bending mechanism based on the piezoelectric effect, in which the actuator unit bends downward (upward) due to expansion (contraction) under negative (positive) actuator voltage. Adapted with permission^[8], Copyright 2022, IEEE. PZT: Lead zirconate titanate.