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. 2015 Mar 1;2(1):7–25. doi: 10.1089/soro.2014.0022

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Copyright 2015, Mary Ann Liebert, Inc.

© Andrew D. Marchese et al. 2015; Published by Mary Ann Liebert, Inc. This Open Access article is distributed under the terms of the Creative Commons License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any

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FIG. 7. — A conceptual representation of the cylindrical segment morphology. The segment consists of a soft silicone rubber outer layer (b, transparent), a slightly stiffer silicone inner layer (d, cyan), crush-resistant silicone inlets (a, brown), expanding embedded fluidic channels (c, yellow), and an internal tubing bundle (f, white). The segment terminates in soft endplates (e). (A) A depiction of the segment in an unactuated state. (B) A depiction of the body segment in an actuated state where the expansion of the pressurized fluidic channel is schematically represented.