Pneumatic-Cable-Hybrid-Driven Multi-Mechanism End Effector and Cross-Surface Validation.

Biomimetics (Basel) · 2026 · PMC12938715 · PMID 41744586

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an increasing trendno p-value reported

In the positive pressure range of 0 to 90 kPa, the bending angle also shows an increasing trend: it grows rapidly from 0 to 20 kPa, slows down from 20 to 60 kPa, and accelerates again from 60 to 90 kPa.

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an overall trendno p-value reported

It can be seen that with the increase of negative pressure, the tangential adhesion force and normal adhesion force exhibit an overall trend of nonlinear growth.

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Quoted from the open-access full text in Europe PMC under the licence the publisher applied. The sentence is reproduced exactly as published; the emphasis is ours.