fig5
Figure 5. Contact-type attachment methods. Examples of contact-type attachment methods are shown in Figure 5A and B: (A) Contact-type attachment achieved using a rubber hose that expands upon inflation. Adapted with permission[17], Copyright 2023, IEEE; (B) A REPA. Reproduced under the Creative Commons Attribution (CC BY 4.0) license[18]. EFA: Elastic force actuator; ABM:active bending module; REPA: radial expansion pneumatic actuator; EPA: elongated pneumatic actuator.
