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ROBOMECH Journal
Fig. 12 | ROBOMECH Journal

Fig. 12

From: Deformation model and experimental evaluation of a contractable and bendable wire-pulling mechanism with embedded soft tubes for a robotic tongue

Fig. 12

Pictures of deformation pattern (b) when both \(l_1\) and \(l_2\) are pulled. The plasticizer mixing ratio is 100 wt%. The yellow line is the neutral arc line l on the surface of the deformable part predicted by the deformation model. Note that the red line on the surface of the prototype does not match the neutral arc line in the plane where the wires exist because the prototype does not deform uniformly in the Z-direction.

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