“…The advantages of the HSJA are evident: For P e = 0.4-3.2 W, the HSJA achieves a 15-23% increase in the velocities and a 41-48% increase in the energetic efficiency. These results well agree with the previous experiments with the same actuator, which were performed at a bit higher input real power, P e = 4.0 W, see [43,48,55]. Namely, the studies [43, 48, and 55] concluded that the HSJA achieves a 25%, 24%, and 26 % increase of the velocities in comparison with the SJA, respectively.…”