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. 2020 Nov 2;10:18778. doi: 10.1038/s41598-020-75346-5

Figure 9.

Figure 9

Experimental research on bending and end output force of SPA. (a) Comparison of the relationship between actuating pressure and curvature for simulations, mathematical models, and experiments. (b) Plot of actuation air pressure versus end force output for a single SPA.