“…[1][2][3][4][5][6][7] Specically, smart cm-scale so robots using IEAP materials possess bionic characteristics which are preferable to typical rigid actuators because of their exibility, simple construction, miniaturization, safety, biocompatibility, and low energy consumption. 1,6,[8][9][10][11] Typical IEAPs are ionic polymer metal composites (IPMCs), which are composed of a central ionexchange polymer (e.g., Naon, Flemion, and Aciplex) and electroless plated metal electrodes (e.g., Pd, Pt, Ag, and Au) on both sides. [9][10][11][12][13][14][15][16][17] Under an external electric eld, the hydrated cations in Naon ow towards the cathode through the ion nanochannels, causing the cathode side to swell and eventually bend toward the anode.…”