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CAD Tutorial: Adding Ledge to Mold Body of Fiber-Reinforced Actuator

CAD Tutorial: Making Main Mold Block of Fiber-Reinforced Actuator

CAD Tutorial: Mirror Thread Grooves of Fiber-Reinforced Actuator

CAD Tutorial: Creating Sweep Cut of Fiber-Reinforced Actuator

CAD Tutorial: Drawing Helix Path of Fiber-Reinforced Actuator

CAD Tutorial: Filleting Edges of Fiber-Reinforced Actuator

CAD Tutorial: Designing Body of Fiber-Reinforced Actuator

Pour Elastomer Into Mold and Add Rod (Alternate Molding Method)

SDM Fingers Grab Pancreas

FR actuators with single family fibers behavior varying with angle

PVC Prototype Rolling

Silicon Prototype Successful Roll While Tethered

Final Prototype Rolling Forward

Balloon Prototype

Silicon Prototype Successful Roll While Untethered

Silicon Prototype Stuck Due to Uneven Weight Distribution

Final Prototype Rolling Forward and Backward

Uneven Balloon Inflation

Undulating Capability Test

Single Module Performance

Single Module No Sheath

3 module manipulator

In Series Stiffening

Final Prototype Rolling Forward (Close-up)