Fig. 7From: A review on robotic fish enabled by ionic polymer–metal composite artificial musclesAssembly-based fabrication process [42].a Fabricate IPMC. b Make a mold. c Cut IPMC into seperated strips. d Cover the IPMCs with uncured PDMS gel. e Clamp the mold containinig the IPMCs and uncured PDMS, and then cure the PDMS at room temperature. f Remove the moldBack to article page