fig12

Figure 12. (A) Soft inchworm robot developed by Liu et al.^[36], reprinted with permission; (B) Soft inchworm robot made from three eSPAs and two flexible feet. Reprinted with permission from Zhang et al.^[55]; (C) Internal structure of duplex chamber inchworm mechanism based on that presented in the study of Yamamoto et al.^[58]. REPA: Radially Expanding Pneumatic Actuator; EPA: Expanding Pneumatic Actuator; eSPAs: Extensible Pneumatic Soft Actuators.