FIG. 5.

Mechanical programming achieved by varying device design or manufacture: (A) a pneumatic actuator made to expand, extend, or twist by changing its fiber winding angle,⁶⁷ (B) four variations of a continuum robot body whose inner chambers determine its behavior,³² (C) different bending angles achieved at a given operating pressure by changing the aspect ratio of a diamond hinge pattern,⁶⁸ (D) various cross-sectional shapes of 3D printed manipulators change their mechanical behavior.³⁸ Figure panels were reprinted with permission from their respective references.