FIG. 6.

A conceptual representation of the ribbed segment morphology. The segment is composed of three layers produced from soft elastomer (a), embedded fluidic channels (b), inextensible, but flexible constraint (c), embedded fluid transmission lines (d), and ribbed structures (e). (A) The segment in an unactuated, or neutral state. (B) The segment in an actuated state where fluid within the agonist channel group is pressurized, producing bending about the inextensible axis. Color images available online at www.liebertpub.com/soro