Abstract: An integrated mecatronic structure for a manipulator assembly with one or more degrees of mobility controlled by one or more actuators can impart to the manipulator assembly a motion activated by control means connected to actuation means, and can include at least one flexible unit consisting of at least one flexible element attached to at least one actuator. The actuator is a volume-change actuator associated with a closely related or local dedicated power unit, including a tank and/or an element for converting the supplied power into another form of energy, able to make the manipulator assembly portable.