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The PneuNet actuator documented here consists of a series of chambers arranged in a row, where the thinnest wall sections are those between each chamber and the next. The strain-limiting layer is a piece of paper embedded in the base.
When the device is inflated, the chambers expand, and the thin walls between the chambers bulge out the most. This would cause the actuator to expand in the axial direction, but since the strain-limiting layer does not expand, the actuator bends instead.
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