Abstract
This paper presents a multisection bendable actuator with soft ring-buckle-type arm pair in each section (Fig. 1). The actuator is made of ionic polymer metal composite (IPMC) with our newly developed fabrication process, possessing better toughness and force output compared to conventional IPMC actuators. Novel flip lock connectors and parylene thin-film cable are developed and further integrated with the IPMC actuator to effectively provide squeezing pressure and electrical signals. A polyacrylamide hydrogel/parylene tube is created and assembled with the developed IPMC actuator as an active esophagus mimic for functional testing. The soft tube manipulated to generate a peristalsis-like movement for adjusting the bolus transport by electrical control of the IPMC arm pairs with different phase is demonstrated.