Figure 5
The diagram presents a segmented actuator fixed at the left and bending downwards. A straight reference position extends horizontally from the fixed end, while the bent actuator curves towards the lower centre. A double headed arrow labelled L extends from the fixed end to the actuator tip. A curved arrow labelled alpha indicates the bending angle between the straight reference position and the bent configuration. Coordinate axes at the lower right are labelled Y and Z.3D printed actuator pressurized and corresponding bending angle