A poly vinyl chloride (PVC) gel actuator shows great potential for use as a new soft actuator because of such positive characteristics as movement in the air, large deformation, lower power consumption and being lightweight. We have developed a contraction and expansion type actuator by using the PVC gel and mesh type electrodes in the previous study. In this study, in order to developing a kind of high-performance actuators for practical application, we investigated the relationship between the stacked layers and characteristics of the PVC gel actuator.
