“…42 12.1.1 Dual Sensing-Actuators: Sensing and Tactile Artificial Muscles. Equation (17) states that the evolution of the muscle potential during actuation is affected, as obtained empirically 26,108,121,122,124,[129][130][131][132][133] by the electrolyte concentration, the temperature, any mechanical variable acting on the volume variation (trailed weights, obstacles, pressure) and frequency. Driven by a constant current, the potential of the muscle (and the consumed electrical energy) during the description of the same angular amplitude every time, that is, from Figs.…”