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. 2020 Feb 18;7:17. doi: 10.3389/frobt.2020.00017

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Copyright © 2020 Geer, Iannucci 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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Fabrication of the plant-inspired coiling actuator. (a) CAD models of a section of the primary molds. The ridges for fiber placement are highlighted. (b) The finished primary molds from 3D printer. (c) The assembly consists of an aluminum rod, cured inner layer, and wrapped Kevlar fiber. (d) A finished coiling actuator. The end adaptor for pressurized air supply and the markers for displacement measurement are highlighted. Note that for every marker shown in this picture, there is another one on the opposite side behind the actuator body.