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Design parametric study using finite element simulations. (A,B) Simulated external shapes of different coiling actuators with various combinations of reinforcing helix tilt angle (α) and pitch (p). All of them are subjected to the same internal pressure at 69 kPa. (C) The correlation between the averaged actuator twist, curvature, and tilted helix design parameters based on FEA results. The insert figure on the right illustrates the method of calculating local twist and curvature.
