Soft actuators and artificial muscles

An actuator for use in a gripper mechanism comprising:

• at least two actuators comprising an ion-exchange material positioned opposite to each other and being capable of bending in equal and opposing directions, and each of said actuators having a first end;
• means for providing power to said actuators to drive the mechanical bending of said actuators in opposing directions;
• means, operably attached to said first end of each of said actuators, for conducting electrical impulses across said actuators;
• and
• wiring means, operably attached to said conducting means and to said means for providing power, for electrically connecting said actuators to said power source.

An actuator for providing three-dimensional movement, comprising:

• three actuators comprising an ion-exchange material and comprising a hollow triangular tube having a longitudinal axis and a first end wherein each of said actuators of said tube comprises a face of said tube;
• means, operably attached to said first end of each of said actuators, for conducting a signal across each of said faces of said tube, thereby stimulating each face of said tube at a phase angle apart from each adjacent face to produce a motion around said longitudinal axis of said tube;
• and
• means for providing power to said signal conducting means;
• and
• tube to said power means, attached to said signal conducting means, for operably connecting said tube to said power providing means.

An actuator for use as a wing flap, comprising:

• at least two actuators comprising a bendable ion-exchange material sandwiched in series in a stack configuration, each of said actuators formed in a planar layer and capable of acting as a series resistor element and said stack having first and second ends, a top surface and a bottom surface;
• means, operably attached to said stack at said first end and said top and bottom surfaces, for conducting power across said stack;
• means for supplying power to said stack;
• and
• means for connecting said power supplying means to said power conducting means.

An actuator for use as a robotic swimming structure, comprising:

• at least two actuators formed in a bendable ion-exchange material having a first end, said ion-exchange material comprising a plurality of polymer gel fibers imprinted with means for conducting power through said ion-exchange material;
• means, operably attached to said ion-exchange material at said first end, for conducting an alternating low voltage across said ion-exchange material;
• means for providing power to said conducting means;
• means for modulating speed of bending of said ion-exchange material varying the frequencies of the applied voltage;
• and
• means for operably connecting said conducting means to said power providing means.

An actuator for use as a resonant flying machine, comprising:

• at least one ion-exchange material actuator in the form of a planar layer having first and second ends, a top surface and a bottom surface;
• means for conducting power across said ion-exchange material actuator, operably attached to said top and bottom surfaces of said ion-exchange material and along a central axis of said ion-exchange material equidistant from said first and second ends, whereby said ion-exchange material actuator is capable of reversibly bending in a flapping motion upon receiving power;
• means for providing power to said conducting means;
• and
• means for connecting said conducting means to said power providing means.

An actuator for use as a guide wire in medical applications, comprising:

• at least one bendable ion-exchange material actuator formed in a strip;
• means for providing power to said strip;
• and
• means for connecting said strip to said power supply.