An embodiment of the present invention describes aerogel materials comprising an additive comprising a compound comprising at least two different metal elements. In accordance with the present invention, the outer current collector which comprises a conductive paste or a carbon fiber to have good flexibility is used in a cable-type battery to improve the flexibility of the cable-type battery. A printed circuit board 4 disposed in a second chamber formed in the case. Based on the information associated with the at least one physical object, a computing device may then determine a respective location in a physical environment of the robotic manipulator at which to place the at least one physical object. A portion of the individual coatings are joined together to secure the tension members into a desired alignment and to form a single jacket that establishes a geometry of the belt.