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. 2020 Feb 28;8:111. doi: 10.3389/fbioe.2020.00111

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Copyright © 2020 Heung, Tang, Shi, Tong and Li.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Modeling of the soft-elastic composite actuator. (A) Closeup view: cross-sectional area of the distal tip of SECA showing the defined variables. Lower center: section view from lateral direction displaying the chamber length of SECA. (B) Illustration of the 3D printed SECA bending in free space. (C) Bending of the 3D printed SECA considering stiff finger joints.