Fig. 8
From: A unified framework for soft inflatable fabric actuators
Stiffness coefficients \(k_0\), \(k_1\), and \(k_2\) of the spring model used to characterize the actuator’s nonlinear bending behavior. (A) Table of stiffness coefficients obtained from second-order polynomial fitting of torque-angular displacement data at three different inflation pressures: 0.1 MPa, 0.15 MPa, and 0.2 MPa. (B) Pressure-dependent behavior of the stiffness coefficients, showing a linear increase in all terms with increasing inflation pressure.
