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. Author manuscript; available in PMC: 2023 Oct 1.
Published in final edited form as: Adv Intell Syst. 2022 Jun 26;4(10):2200085. doi: 10.1002/aisy.202200085

Figure 7:

Figure 7:

Stroke characterizations and comparison to kinematic models. Experimental curves show average values with one standard deviation. a) Stroke vs Volume: one 1-DoF SBA with diameter d = 10 mm was inflated three times with air, and a separate 1-DoF SBA was inflated three times with water. The experimental stroke curves are reported against the geometric model. b) Stroke vs Volume: one 1-DoF SBA with diameter d = 5 mm was inflated three times with water. The experimental stroke curve is reported against the SOFA model. c) Stroke vs Pressure: one 1-DoF SBA with diameter 5 mm was inflated three times with air to be compared against data from the ABAQUS simulation.