Fig. 9From: Self-excited air flow passage changing device for periodic pressurization of soft robotFrequencies affected by the volume of the chambers. a Volume of the attached chamber is \(0\,\hbox {mm}^3\). b Volume of the attached chamber is \(10{,}000\,\hbox {mm}^3\). c Relationship between the volume of the attached air chambers and frequency of self-excitationBack to article page