Development and Performance Analysis of Pneumatic Soft-Bodied Bionic Basic Execution Unit

<div>The <svg height="8.98583pt" id="M128" style="vertical-align:-0.3499308pt" version="1.1" viewbox="-0.0498162 -8.6359 34.4743 8.98583" width="34.4743pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M600 480C600 590 528 650 384 650H143L137 622C222 614 225 607 210 531L130 127C113 41 106 36 23 28L17 0H294L300 28C204 36 195 42 212 127L243 284L314 263C327 263 339 263 352 264C465 271 600 337 600 480ZM508 481C508 351 402 304 329 304C289 304 265 311 250 317L295 559C302 594 310 606 323 611C335 616 350 619 367 619C455 619 508 573 508 481Z"></path></g><g transform="matrix(.013,0,0,-0.013,10.932,0)"><path d="M535 230V280H52V230H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,21.468,0)"><path d="M962 650H795L470 145L347 650H176L170 622C268 613 275 606 244 503L190 322C150 188 132 126 118 91C102 50 80 33 18 28L12 0H245L251 28C175 35 170 48 174 93C177 128 191 180 220 284L292 542H294C331 392 383 150 409 4H432L774 555H776L714 137C700 40 694 34 612 28L606 0H868L874 28C793 34 784 37 797 137L849 533C859 612 863 616 956 622L962 650Z"></path></g></svg> characteristic curve of pneumatic soft-bodied bionic basic units for fixed angle. (a) Unidirectional basic execution unit. (b) Bidirectional basic execution unit.</div>

Journal of Robotics

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Figure 13

Figure 13: Development and Performance Analysis of Pneumatic Soft-Bodied Bionic Basic Execution Unit 