Fig. 1: Miniaturization design of the untethered PAM composed of hydrogel actuator. | Nature Communications

Fig. 1: Miniaturization design of the untethered PAM composed of hydrogel actuator.

From: Temperature-triggered inflatable hydrogel muscles with snap-through instability for untethered robots

Fig. 1

a Schematic diagram of the design of the untethered PAM. b Typical pressure-volume curves of the hydrogel actuator with snap-through instability. c Temperature-triggered deformation of the inflated hydrogel actuator harnessing snap-through instability. d The actuation process of the inflated hydrogel actuator in 70 °C water.

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