Fig. 8
From: Evaluation of two complementary modeling approaches for fiber-reinforced soft actuators
![Fig. 8](http://media.springernature.com/full/springer-static/image/art%3A10.1186%2Fs40648-022-00225-9/MediaObjects/40648_2022_225_Fig8_HTML.png)
Parametric studies of FREEs for fiber angles over the range of \(10^{\circ }\) to \(80^{\circ }\) showing extension per unit length (\(\lambda _{z}\)), rotation per unit length (\(\tau\)), force, and moment as a function of applied pressure (top). Two different boundary conditions were applied to the FREE in each analysis (bottom). In all cases tested, FREEs are modeled with a length of 175 mm, an inner diameter of 9.52 mm, a wall thickness of 0.8 mm, and are wound with six fibers each