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. Author manuscript; available in PMC: 2011 Nov 24.
Published in final edited form as: J Am Chem Soc. 2010 Sep 17;132(46):16314–16317. doi: 10.1021/ja106218s

Figure 2.

Figure 2

Mathematical modeling of the actuation of grippers as a function of moduli of biopolymers. (a) In the initial state both polymers are stiff (moduli higher than 104 Pa) and the entire gripper is flat. (b) When the first biopolymer is degraded and its modulus decreases to approximately 100 Pa, the first set of six hinges bends causing the gripper to close. (c) The remaining 2 hinges bend when the modulus of the second biopolymer trigger is decreased.