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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 4. — (a) The multi-material actuator for variable stiffness (MAVS) actuator when deflated and inflated. A cross section view of the MAVS actuator for the rigid and soft parts. is the length of each segment, where is representative of the length of the rigid sections, and is the length of the soft segment. is the deflection of the beam at its total length, inclusive of all segments. is the total distance from the origin point at varying lengths depending on which MAVS configuration and combination of and are used to create the final ratios. Each length is broken down and specified individually to account for various ratios of rigid surface versus soft surface area. (b) The theoretical force versus displacement relationship, that is, stiffness, of the MAVS for various values of , which denotes the quantity of exposed soft actuators segments in MAVS-A2 design, and the front view of the MAVS-A2 design is illustrated with multiple segments of . The applied transverse load is denoted by at the free of the MAVS in (a2).

Inline graphic — (a) The multi-material actuator for variable stiffness (MAVS) actuator when deflated and inflated. A cross section view of the MAVS actuator for the rigid and soft parts. is the length of each segment, where is representative of the length of the rigid sections, and is the length of the soft segment. is the deflection of the beam at its total length, inclusive of all segments. is the total distance from the origin point at varying lengths depending on which MAVS configuration and combination of and are used to create the final ratios. Each length is broken down and specified individually to account for various ratios of rigid surface versus soft surface area. (b) The theoretical force versus displacement relationship, that is, stiffness, of the MAVS for various values of , which denotes the quantity of exposed soft actuators segments in MAVS-A2 design, and the front view of the MAVS-A2 design is illustrated with multiple segments of . The applied transverse load is denoted by at the free of the MAVS in (a2).