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Table 1 Comparison of actuators related to hydraulic muscles

From: Safety-enhanced control strategy of a power soft robot driven by hydraulic artificial muscles

Actuator

Backdrivability

Structural compliance

Stability under disturbance

Generating force

puncture resistance

Pneumatic cylinder

Relatively high

No

Relatively low

Low

High

Pneumatic muscle

High

High

Low

Low

Relatively high

Hydraulic cylinder

Low

No

High

High

High

Hydraulic muscle

Relatively high

Relatively high

Relatively high

High

Relatively high