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

Figure 12

Experimental results of the designed actuator. (a) Photographs of the actuator during a bending motion. (b) Bending angles of each joint of the index finger and the actuator during a grasping motion. (c) Comparison of trajectories. (d) Configurations of the actuator during a bending motion.

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