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A new type of soft actuator was developed by using hydrogel materials and three-dimensional 3D printing technology, attracting the attention of researchers in the soft robotics field. Due to parametric uncertainties of such actuators, which originate in both a custom de nature of 3D printing as well as time and voltage variant characteristics of polyelectrolyte actuators, a sophisticated model to estimate their behaviour is required. This paper presents a practical modeling approach for the deflection of a 3D printed soft actuator.

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