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. Author manuscript; available in PMC: 2015 Oct 1.
Published in final edited form as: IEEE ASME Trans Mechatron. 2014 Dec 24;20(5):2252–2263. doi: 10.1109/TMECH.2014.2372635

Fig. 5.

Fig. 5

Tensions with static friction force at eyelets between adjoining cells. A, Relationship between bending angle and tension at cell i; B, Tension propagation from cell i to cell i + 1 in a single tendon; C, Tension propagation from cell i to cell i + 1 in an antagonistic pair of tendons.