Dear Researchers.

I am looking for a way on how I could derive an equation that relates pressure and bending angle for the soft pneumatic actuator that I am developing in my project. The actuator that I am modeling is a hemicircular type. And I wanted it to be segmented, like a finger that I could individually control each joint. There is a mutual movement when I pressurize one of the joints of the actuator. Therefore, other joints, which are not yet actuated move when one joint is being actuated. The Illustration is a model of one joint. The whole actuator is a homogeneous soft actuator run in FEA. The pressure applied in the each chamber in a joint is radiates in all directions on the walls of the chamber. The base is assumed in-extensible, therefore, does't elongate. The interaction between the outside walls of the chambers produces bending when inflated.

Thank you for your help.