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For starters,i have planned to use a soft material such as silicone rubber for actuation.Fabrication of the material seems hard because its done using 3D printing.Is there any other way i could make the actuators without 3D printing ? I have posted the link below to get a clear idea of the soft fish being discussed here.

https://www.youtube.com/watch?v=BSA_zb1ajes 

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