“…Because of the smaller volume, lightweight, and compact structure, the hydraulic power technology is widely used in marine mechatronic equipment, 1,2 such as submersible hydraulic buoyancy control and manipulator. [3][4][5] However, traditional hydraulic drive technology takes mineral oil as a working medium, which is also named oil hydraulic drive technology. For underwater applications, due to the incompatibility between the working medium (mineral oil) and its working environment (seawater), oil hydraulic drive technology has serious disadvantages, such as complex system structure (many oil inlet and return pipelines exist in the actuator), vast volume, heaviness (oil tank, working medium and pressure compensator), low power density, unreliable operation, short service life (seawater can easily invade the system, making the working medium deteriorate, exacerbating wear between the relative moving parts, reducing reliability, and service life), high maintenance costs (working medium must often be modified and waste liquid must be treated), poor mobility, and flexibility.…”