**5.1. Design principles**

Using flexible fluidic actuators as drives makes the designing process comparatively easy. Since the compressive force of the actuator is directly used to generate torque, no additional transmission elements are necessary. However, the flexible properties of the actuators require guiding components along the the actuators track of motion. If those guiding elements are not included, the actuator will work, but will eventually have decreased range of motion and less torque. The guiding elements for vulcanized actuators are metal connectors at the end of the actuator and additional metal brackets in the midsection of the actuator. HF-welded actuators mainly use additional lugs around the chambers which are included in the seams or the end areas of the actuators. These lugs are then clamped in the structure of the corresponding joint. Position and type of the guiding element are additional parameters to determine the overall characteristics of the flexible fluidic drive.
