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. 2021 Jan 6;7(2):eaba4261. doi: 10.1126/sciadv.aba4261

Fig. 6. Printed soft pneumatic actuator with hydrogel strain sensor.

Fig. 6

(A) Schematic illustration of the SPA design. (B) Image of a printed SPA with hydrogel strain highlighted in pink color. (C) Experiments to investigate the resistance-stretch relation. (D) Bending sensor characterization. (E) Comparison between experiments and FEA simulations. (F) Relation between bending angle and measured strain on the sensor. (Photo credit: Zhe Chen, Zhejiang University.)