Here is a soft robotic actuator that can be scaled down to 1cm. Researchers at Istituto Italiano di Tecnologia’s Bioinspired Soft Robotics Laboratory are behind this pleat-based soft robotic actuator. GeometRy-based Actuators can contract and elongate and can be used to achieve a wide range of lifelike movements due to their flexibility.
[HT: Science Robotics DOI: 10.1126/scirobotics.abn4155]