fig8

Figure 8. (A) Inchworm mechanism made using traditional rigid actuators. Reprinted with permission from Basem and Bastaki^[39]; (B) Comparison of the initial gripping unit developed by Kusunose et al.^[40]. (i) The improved mechanism integrated into the whole robot by Hayashi et al.^[41], (ii) Both images printed with permission from Hayashi et al.^[41]; and (C) Inchworm robot developed by Li et al. reprinted with permission^[44].