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. 2021 Aug 13;11:16478. doi: 10.1038/s41598-021-94769-2

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© The Author(s) 2021

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Pneumatic actuation of soft robotic constrictor. (a) Experimental setup for controlled pneumatical actuation of the soft robotic device. Scale bars, 5 mm. (b) Photographs of the uncoiling device due to applied air pressure. Scale bars, 5 mm. (c) Quantification of equilibrium RoC during the application of pneumatic pressure. Plots of equilibrium RoC (d) and axial elongation (e) at different levels of applied pneumatic pressure. (f) Finite element analysis-based computation prediction of substrate geometry and strain during pneumatic actuation of the soft robot. The heatmap shows maximum nominal principal strain. (g) Inclusion of 3D hydrogel for finite element modeling of 3D tissue. (h,i) In silico prediction of changes in mean compressive strain in the ROI with decreasing pneumatic pressure. The size of arrow pairs in (i is proportional to the level of compressive strain. The heatmap shows maximum nominal principal compressive strain. Data show mean ± SD with n = 3.