Stacked dielectric elastomer actuator for tensile force transmission

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Increasing the performance of dielectric elastomer actuators: A review from the materials perspective (2015, background): “This configuration produces devices with large force and deformation characteristics [170, 171].”
Dielectric Elastomer Actuator for Soft Robotics Applications and Challenges (2020, background): “74 N has been studied through the development of an optimized design and fabrication process [58,59].”