Fig. 3From: Deformation model and experimental evaluation of a contractable and bendable wire-pulling mechanism with embedded soft tubes for a robotic tongueContraction and bending deformations of the prototype. The plasticizer mixing ratio is 100 wt%. The wire lengths \(l_1\) and \(l_2\) were adjusted manually so that the cap would be at the target position and angle, not by Eq. (3)Back to article page