Asymmetric Bellow Flexible Pneumatic Actuator for Miniature Robotic Soft Gripper

Figure 15

Deflection of the AFPA of model 3 at different pressures.

(a) 0 kPa

(b) 60 kPa

(c) 90 kPa

(d) 120 kPa

(e) 150 kPa

(f) 180 kPa