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This work was supported by National Natural Science Foundation of China (Grant Nos. 61473130, 91648203, 51335004).
Appendix A.
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Figure 1
(Color online) (a) Fabrication of the fiber-reinforced pneumatic muscle; (b) photographs of the actuator at different air pressures; (c) experiment apparatus; (d) experimental result when the input is 0.5 Hz; (e) experimental result when the input is 0.25 Hz.
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