When my son was in grade school, he came home one day with an awesome robotic arm that he had made in industrial arts. It was made out of wood and simple hardware. The actuation was provided by water in plastic syringes and hosing. A controller was made by slotting the syringes into a game controller-like piece of wood you held in your hands. I thought the idea was ingenious and had never seen it before, even thought I had just recently published a book on hobby robotics.
In this quick Adam Savage video, he presents the same idea. Two large syringes, some tubing, and some water, and you have a very cheap and surprisingly strong actuation solution.
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