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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 9. — (a) The test setup for experimental characterization of the multi-material actuator for variable stiffness (MAVS) actuator. The universal testing machine is shown from the side view, with the custom 3D-printed clamp and the MAVS actuator fixed to the load cell. (b) Measured force versus displacement/deflection relationship for a single unit of the MAVS-A2 actuator ( 1). A maximum 20-mm deflection was tested at three pressure input levels (30, 50, and 100 ). Model predictions of the force required to deflect the same distance (20 mm) is shown with dotted lines. (c) Measured force versus the displacement/deflection relationship for a longer MAVS-A2 actuator ( 5) used in the soft robotic ankle-foot orthosis.

Inline graphic — (a) The test setup for experimental characterization of the multi-material actuator for variable stiffness (MAVS) actuator. The universal testing machine is shown from the side view, with the custom 3D-printed clamp and the MAVS actuator fixed to the load cell. (b) Measured force versus displacement/deflection relationship for a single unit of the MAVS-A2 actuator ( 1). A maximum 20-mm deflection was tested at three pressure input levels (30, 50, and 100 ). Model predictions of the force required to deflect the same distance (20 mm) is shown with dotted lines. (c) Measured force versus the displacement/deflection relationship for a longer MAVS-A2 actuator ( 5) used in the soft robotic ankle-foot orthosis.