An Optimum Design Method of Pneu-Net Actuators for Trajectory Matching Utilizing a Bending Model and GA

Figure 4

FEA results of the actuators with different parameters under the actuation pressure of 5 kPa. The original and deformed shapes of each actuator are illustrated in (a)–(h).

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)