As the new era of technology advances without boundaries, the more demand for intricate autonomous systems and human-like robots continues to increment. Soft robotics it’s a field of science and technology that is starting to bloom rapidly. The robotic soft actuator presented is able to manipulate speed, force and displacement the same as a voice coil actuator without having the same amount of stiffness and density-to-weight ratio. The project is overseen by Dr. Jafari head of the Advance Robotics Manipulator Lab at UTSA, and supported by other faculty and undergraduate and graduate students. In addition, team strengths and weakness are identified to be able to have a goal. Consequently, to understand the functionality and benefits of the soft actuator better twenty-five different patents of actuators are summarized and compared.