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. 2021 Mar 24;8(10):nwab048. doi: 10.1093/nsr/nwab048

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© The Author(s) 2021. Published by Oxford University Press on behalf of China Science Publishing & Media Ltd.

This is an Open Access article distributed under the terms of the Creative Commons Attribution License (https://creativecommons.org/licenses/by/4.0/), which permits unrestricted reuse, distribution, and reproduction in any medium, provided the original work is properly cited.

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Figure 2. — Characterization of the design parameters on the actuation modes of the MAIPAMs. (A) Schematic of the 2D-based design pattern of the elongated MAIPAMs. An active elastomer balloon (type I) is assembled at position (L > 0, S = 0, = 0) in the passive 2D elastomer membrane. (B) The working principle of the elongated MAIPAMs: upon supplied volume V of the compressed air, the MAIPAMs generate an elongated displacement . (C) is plotted as a function of V when L equals 20, 40 and 60 mm, respectively. (D) Schematic of the 2D-based design pattern of the bending MAIPAMs. An active elastomer balloon (type II) is assembled at position (L = 50 mm, S > 0, = 0) in the passive 2D elastomer membrane. (E) The working principle of the bending MAIPAMs: upon supplied volume V of the compressed air, the MAIPAMs generate a bending angle . (F) is plotted as a function of V when S equals 20, 40 and 60 mm, respectively. (G) Schematic of the 2D-based design pattern of the spiraling MAIPAMs. An active elastomer balloon (type III) is assembled at position (L = 40/cos mm, S = 20 mm, >0) in the passive 2D elastomer membrane. (H) The working principle of the spiraling MAIPAMs: upon supplied volume V of the compressed air, they form helical shapes. (I) The helical shapes of the spiraling MAIPAMs with different when V equals 120 mL with a pressure of 46.5 kPa.

Inline graphic — Characterization of the design parameters on the actuation modes of the MAIPAMs. (A) Schematic of the 2D-based design pattern of the elongated MAIPAMs. An active elastomer balloon (type I) is assembled at position (L > 0, S = 0, = 0) in the passive 2D elastomer membrane. (B) The working principle of the elongated MAIPAMs: upon supplied volume V of the compressed air, the MAIPAMs generate an elongated displacement . (C) is plotted as a function of V when L equals 20, 40 and 60 mm, respectively. (D) Schematic of the 2D-based design pattern of the bending MAIPAMs. An active elastomer balloon (type II) is assembled at position (L = 50 mm, S > 0, = 0) in the passive 2D elastomer membrane. (E) The working principle of the bending MAIPAMs: upon supplied volume V of the compressed air, the MAIPAMs generate a bending angle . (F) is plotted as a function of V when S equals 20, 40 and 60 mm, respectively. (G) Schematic of the 2D-based design pattern of the spiraling MAIPAMs. An active elastomer balloon (type III) is assembled at position (L = 40/cos mm, S = 20 mm, >0) in the passive 2D elastomer membrane. (H) The working principle of the spiraling MAIPAMs: upon supplied volume V of the compressed air, they form helical shapes. (I) The helical shapes of the spiraling MAIPAMs with different when V equals 120 mL with a pressure of 46.5 kPa.