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This paper presents a novel silicone-based, millimeter-scale, fluidic actuator able to bend about two orthogonal axes. The implemented molding fabrication procedure is discussed and the quasi-static performance of the developed prototypes is experimentally investigated. The relationship between the pressurized working fluid and the position of the actuator tip is determined by using a stereovision measurement system. Such a relationship is mapped through a regression model, which is used to implement a minimalist position controller.
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Chang et al. (2012) studied this question.
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