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. Author manuscript; available in PMC: 2018 Jun 24.
Published in final edited form as: IEEE Int Conf Robot Autom. 2017 Jul 24;2017:5503–5510. doi: 10.1109/ICRA.2017.7989648

Fig. 2.

Fig. 2

Thin-walled polyethylene tubing (a) deflated and (b) inflated. An sPAM is a length of polyethylene tubing with o-rings spaced at regular intervals (c) deflated and (d) inflated. l0 is unchanged during inflation.