Fig. 1: Pneumatic torsion strips inspired by the shape of a Möbius band.
From: Shape morphing of soft robotics by pneumatic torsion strip braiding
a A ribbon bladder (flat tube) is bent and twisted to form a pneumatic torsion strip. b The soft body shape is locally bent by the pneumatic torsion strip. Pneumatic torsion strips are arranged to achieve in-plane shrinkage (c) and out-of-plane bending (d) of the braided soft body. e The artificial muscle contracts obeying the “planar to wavy shape transformation” mechanism. f A meter-scale transformable carpet can curl like plant tendrils. Source data are provided as a Source Data file.
