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. 2022 Nov 23;13(12):2051. doi: 10.3390/mi13122051

Figure 20.

Figure 20

Photographs above: Snake-inspired Kirigami skin for lateral undulation of a soft snake robot with and without curvature. Effect of strain relief designs on curvature vs. pressure relationship. Inset shows the achievable curvature of each skin when the actuator is inflated to the same pressure. Reprinted/adapted with permission from Ref. [219]. Copyright 2020, IEEE.