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Biomechanical model and simulated behaviors. (A) Finite element mesh of the biomechanical model generated by COMSOL. (B) Geometry of the biomechanical model from a side view (Left) and Top view (Right). Gray represents the muscle shell domain, while the enclosed fluid is shown as purple. (C–F) Different behaviors simulated by the model: (C) contraction, (D) elongation, (E) nodding, and (F) bending.
