气动齿状软体驱动器的理论建模、仿真分析及实验研究
苏怡仪, 徐齐平, 刘锦阳

Theoretical Modeling, Simulation Analysis, and Experimental Investigation of a Pneumatic Toothed Soft Actuator
SU Yiyi, XU Qiping, LIU Jinyang
图6 气动齿状软体驱动器有限元离散
Fig.6 Finite element discretization for pneumatic toothed soft actuator