The main goal of the new design was to avoid both friction and hysteresis, thus making control easier while avoiding the threshold. This was achieved by arranging the membrane into radially laid out folds that can unfurl free of radial stress when inflated. The membrane’s stiff longitudinal fibres transfer tension. The inflated and deflated state of the Pleated Pneumatic Artificial Muscle are illustrated below.

via VUB: Applied Sciences: Department of Mechanical Engineering: Muscles.

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