Fig. 4: A body joint manipulation by pneumatic torsion strips.
From: Shape morphing of soft robotics by pneumatic torsion strip braiding
a A body joint with end load (b) can be manipulated by pneumatic torsion strips. Based on the torque output control (c) by pneumatic torsion strips, both the rotation angle (d) and angular speed (e) of the body joint are determined. The dual directional actuation and rapid positioning of a body joint (f) are achieved by the cooperation of PPTS and NPTS. Source data are provided as a Source Data file.
