气动软体自折叠机械臂的驱动和负载性能
徐彦,方琴,张超,李鸿巍

Driving and load performances of pneumatic soft self-folding manipulators
Yan XU,Qin FANG,Chao ZHANG,Hong-wei LI
图 5 机械臂采用的hexagonal折纸样式
Fig.5 Hexagonal origami pattern used in manipulator