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

<div><svg height="8.98583pt" id="M104" style="vertical-align:-0.3499308pt" version="1.1" viewbox="-0.0498162 -8.6359 31.4601 8.98583" width="31.4601pt" 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="M488 658H270V630C328 626 335 619 335 579C217 574 44 509 44 330C44 147 221 88 335 86C335 38 328 32 265 28V0H488V28C425 32 418 38 418 86C534 88 710 153 710 337C710 517 538 575 418 579C418 619 425 626 488 630V658ZM335 118C249 124 136 180 136 337C136 490 251 543 335 547V118ZM418 547C502 543 618 491 618 333S503 124 418 118V547Z"></path></g></svg> characteristic curves of pneumatic soft-bodied bionic basic execution units.</div>

Journal of Robotics

fig9

Figure 9

Figure 9: Development and Performance Analysis of Pneumatic Soft-Bodied Bionic Basic Execution Unit 