Fig. 6 | Scientific Reports

Fig. 6

From: Effective and comfortable chain-linking anchoring with anisotropic stiffness for soft wearable robots

Fig. 6

Analysis of the rigid part ratio (\(\lambda\)), a key parameter influencing the overall system stiffness (\(K_{\text {system}}\)) of the anchoring structure. (a) A sectional view illustrating the parameters that define \(\lambda\). (b) Conceptual relationship between \(\lambda\) and \(K_{\text {system}}\). As \(\lambda\) increases, the contribution of the chain-linking structure to overall stiffness becomes more significant, initially enhancing system stiffness. However, beyond a certain point, the increased length of the chain-linking structure leads to reduced structural stiffness, thereby decreasing the rate of stiffness improvement. This figure is presented as a conceptual illustration, not an empirical plot derived from the equations.

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