Cyborg and Bionic Systems / 2022 / Article / Fig 9

Research Article

Hyperelastic Membrane Actuators: Analysis of Toroidal and Helical Multifunctional Configurations

Figure 9

Pure-motion capabilities. (a) The HA and (c) TA, with their RAC pressurized at  kPa. (e) Change in extension as a result of expansion for the TA and HA. (b) Top view of the HA and (d) TA pressurized at  kPa (AAC) and  kPa (RAC). (f) Intraluminal area deformation as a result of expansion and extension for the TA and HA.