Fig. 11
From: Evaluation of two complementary modeling approaches for fiber-reinforced soft actuators
![Fig. 11](http://media.springernature.com/full/springer-static/image/art%3A10.1186%2Fs40648-022-00225-9/MediaObjects/40648_2022_225_Fig11_HTML.png)
Cooking demonstration using FREEs. A single \(50^{\circ }\) FREE uses our proposed model-based PD controller (see Controller Design) to control the cooking temperature, and a 60 LR module uses a combination of cases 3 and 4 (see Fig. 10) to blend the ingredients of the bowl in a “figure eight” shape (cyan path). See the video of our experiment here: https://youtu.be/vwmvWCrHNQM