[Harrison Low] published some 3D-printed linear actuators, which generated a lot of interest. He got a lot of advice from people on the Internet, and he took it to heart. The result: an improved version that you can see in the video below.
The original design used carbon fiber and Kevlar and was quite stiff. The actuators could move very fast, which was important to [Harrison]. However, they were also prone to wear and had issues with the force required to assemble them. He also wanted the design to be more modular to facilitate repair. The new design removes the bowden tubes, and the resulting actuator is both easier to assemble and easier to service.