Quasi-static model expresses LSSA net axial force as pressure contributions from cap and folded walls minus axial stiffness force, with experiments showing force drop from ~112 N to near zero at 40 mm extension under 125 kPa.
Preliminary Design and Performance Test of an Origami Actuator Inspired by Yoshimura Pattern
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Analytical and Experimental Force Analysis of a Soft Linear Pneumatic Actuator
Quasi-static model expresses LSSA net axial force as pressure contributions from cap and folded walls minus axial stiffness force, with experiments showing force drop from ~112 N to near zero at 40 mm extension under 125 kPa.