Fig. 10From: Deformation model and experimental evaluation of a contractable and bendable wire-pulling mechanism with embedded soft tubes for a robotic tongueCap angle \(\theta \) (top), its error (middle), and relative error (bottom) to wire length \(l_1\) for each plasticizer mixing ratio in deformation pattern (a). Each plot represents the mean value of the three times. The error bars represent the standard deviationBack to article page