Fig. 3: Retrofitting the fluidic sensing approach to a filament actuator (a-c), a McKibben actuator (d-f) and a 3D-printed bending actuator (g-i). | Nature Communications

Fig. 3: Retrofitting the fluidic sensing approach to a filament actuator (a-c), a McKibben actuator (d-f) and a 3D-printed bending actuator (g-i).

From: A retrofit sensing strategy for soft fluidic robots

Fig. 3

The filament (a) and McKibben (d) actuator are used as a muscle to rotate an arm towards a stopper. TPU bending actuator (g) wrapping around a cylinder with a diameter D. Corresponding pressure-volume relation for the soft actuator (solid) and tank (dashed) (b, e, h) and equilibrium pressure Peq in the system (c, f, i) for different positions of the stopper or cylinder diameter D. Experimental results from five tests are shown for each θ (b, c, e, f) and each D (h, i). Scale bars, 30 mm.

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