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. 2022 Aug 1;3:e18. doi: 10.1017/wtc.2022.14

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© The Author(s) 2022

This is an Open Access article, distributed under the terms of the Creative Commons Attribution licence (http://creativecommons.org/licenses/by/4.0), which permits unrestricted re-use, distribution and reproduction, provided the original article is properly cited.

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Figure 3. — (a) The frontal view representation of the ff-PAM at = 0, which indicates its geometries and the path of airflow within the chambers. (b) The frontal view of the ff-PAM at > 0 where the length and geometries are altered as a result of pressurization. (c) The cross section of a single chamber inspired by previous model iteration of inflatable pouches (Niiyama et al., 2015). (d) The isometric view of the ff-PAM in deflated and inflated states, where and are the initial and final lengths of , respectively. (e) The theoretical tensile force versus strain curve for the dual ff-PAM actuator, with eight chambers, at pressure levels of = 50, 100, 150, and 200 resulting from the analytical model. Increasing pressure level result in a more stable and linear response in actuator force profile.

Inline graphic — (a) The frontal view representation of the ff-PAM at = 0, which indicates its geometries and the path of airflow within the chambers. (b) The frontal view of the ff-PAM at > 0 where the length and geometries are altered as a result of pressurization. (c) The cross section of a single chamber inspired by previous model iteration of inflatable pouches (Niiyama et al., 2015). (d) The isometric view of the ff-PAM in deflated and inflated states, where and are the initial and final lengths of , respectively. (e) The theoretical tensile force versus strain curve for the dual ff-PAM actuator, with eight chambers, at pressure levels of = 50, 100, 150, and 200 resulting from the analytical model. Increasing pressure level result in a more stable and linear response in actuator force profile.