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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 5. — The MAIPAM with non-stretchable materials for contraction and twisting actuation modes. (A) Schematic of the 2D-based design pattern of the contracted MAIPAMs. Based on the elongated MAIPAM (Fig. 2A), a contracted MAIPAM is designed by assembling a non-stretchable laser cutting layer in the passive 2D elastomer membrane. (B) The working principle of the contracted MAIPAMs: upon compressed air, it can generate a contracted displacement . (C) The 2D-based design pattern and assembly of the twisting MAIPAMs, achieved by tuning the angle of the limiting layer in (A). (D) The working principle of the twisting MAIPAMs: upon compressed air, it can generate a twisting angle . (E) Application of the contracted MAIPMA for driving a robotic arm (Movie S6). (F) Photographs of the robotic arm lifting an apple of weight 200 g (Movie S6).

Inline graphic — The MAIPAM with non-stretchable materials for contraction and twisting actuation modes. (A) Schematic of the 2D-based design pattern of the contracted MAIPAMs. Based on the elongated MAIPAM (Fig. 2A), a contracted MAIPAM is designed by assembling a non-stretchable laser cutting layer in the passive 2D elastomer membrane. (B) The working principle of the contracted MAIPAMs: upon compressed air, it can generate a contracted displacement . (C) The 2D-based design pattern and assembly of the twisting MAIPAMs, achieved by tuning the angle of the limiting layer in (A). (D) The working principle of the twisting MAIPAMs: upon compressed air, it can generate a twisting angle . (E) Application of the contracted MAIPMA for driving a robotic arm (Movie S6). (F) Photographs of the robotic arm lifting an apple of weight 200 g (Movie S6).