1. Date of download: 10/30/2017
Copyright © ASME. All rights reserved.
From: A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects
J. Mechanisms Robotics. 2016;8(6): doi: /
Figure Legend:
Joints fabricated using SDM at DISL at OSU

2. Date of download: 10/30/2017
Copyright © ASME. All rights reserved.
From: A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects
J. Mechanisms Robotics. 2016;8(6): doi: /
Figure Legend:
Cantilever beam with end loads

3. Date of download: 10/30/2017
Copyright © ASME. All rights reserved.
From: A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects
J. Mechanisms Robotics. 2016;8(6): doi: /
Figure Legend:
The three-spring PRB model after deformation

4. Date of download: 10/30/2017
Copyright © ASME. All rights reserved.
From: A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects
J. Mechanisms Robotics. 2016;8(6): doi: /
Figure Legend:
Optimal PRB parameters as functions of length-to-height ratio

5. Date of download: 10/30/2017
Copyright © ASME. All rights reserved.
From: A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects
J. Mechanisms Robotics. 2016;8(6): doi: /
Figure Legend:
Variation of error in PRB model with load (for the joint with L/h = 2)

6. Date of download: 10/30/2017
Copyright © ASME. All rights reserved.
From: A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects
J. Mechanisms Robotics. 2016;8(6): doi: /
Figure Legend:
Sensitivity of individual PRB parameters near the optimal point for RPR model

7. Date of download: 10/30/2017
Copyright © ASME. All rights reserved.
From: A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects
J. Mechanisms Robotics. 2016;8(6): doi: /
Figure Legend:
Schematic diagram of finger of compliant gripper in deformed position

8. Date of download: 10/30/2017
Copyright © ASME. All rights reserved.
From: A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects
J. Mechanisms Robotics. 2016;8(6): doi: /
Figure Legend:
Comparison of X and Y coordinates of tip of compliant finger as a function of the actuation force A(N), calculated using FEA and PRB models