Type

Swelling ratio

Response time (s)

Strain (%)-Actuation stress (Mpa)

Ref

Present method

0.1-1

0.5-3

0.3E + 02

0.4E + 00

-

Real muscle

0.1-1

0.5-3

0.39E + 02

0.34E + 00

[34]

Pneumatic A. M.

1-1.5

0.5-3

0.11E + 03

0.11E + 01

[34]

Hydrogels (PH)

0.2-10

60-300

0.17E + 03

0.13E + 01

to

 0.89E + 03

0.14E + 01

[34,45]

Hydrogels (Temp.)

0.2-1.5

300-1200

[34,46]

Hydrogels (Electricity)

0.3-47

7-1843

[34,47]

Hydrogels (Magnetic)

1.06-1.32

-

[34,45]

Hydrogels (light)

0.1-1

1000 s

[18,34]

Electroactive polymers

0.1-1

1-3

0.10E + 03

0.38E + 00

[9,34]

Shape memory alloys

0.1<

1-10

0.72E + 01

0.69E + 03

[34,49]

Elastomer

0.1-1

160>

0.10E + 03

0.13E + 01

[34]

Hydraulically amplified

self-healing electrostatic (HASEL)

0.1-1

0.5-3

0.16E + 02

0.3E + 00

[34,50]

Type

Adv.

Dis adv.

Ref

Present method

Swelling ration and response time can be adjusted according to demand

Without need high voltage or electricity for actuation

Low weight and high output power

Act like human muscle

Need sub system to be actuated such as GOP

-

Pneumatic A. M.

Adv. similar to present work but need electricity for actuation

High weight (with account of compressor)

Noise pollution

[11]

Hydrogels

Can be extended to different modes

Long response time

[18,45-48]

Electroactive polymers

Single self-contained mechanism

Need high voltage

[9]

Shape memory alloys

Single self-contained mechanism

Need heating and cooling

[49]

Elastomer

Single self-contained mechanism

Long response time

[34]

HASEL

Act like human muscle

Single self-contained mechanism

Need high voltage

[50]