Fig. 4
From: Bifurcation-based embodied logic and autonomous actuation
Control of actuation time. a Swelling ratio in the transverse (ηT = w/w0) and longitudinal (ηL = L/L0) directions for PDMS–GF composite materials after submersion in toluene for one day. b Swelling anisotropy, ηT/ηL as a function of volume fraction of glass fibers. c The relative slenderness ratio (w/L)rel as a function of time for beams with different initial widths (time is normalized by saturation time, ts, to account for the dependence of diffusion time on volume of material). d Actuation time can be controlled by selecting specific values for the initial beam geometry, w0/L0. The measured time t* is given, as well as the predicted time, \(\hat t^ \ast\), as calculated from equation (2). The error bars are the standard deviations computed from multiple measurements
