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Fabricated prototypes of SBAs. a) 1-DoF SBAs with diameters d = 10 mm and d = 5 mm are shown in their deflated and inflated states. b) a 3-DoF SBA with individual chamber diameters d = 5 mm is shown in its deflated state, as well as three actuated configurations: two-chamber bending, one-chamber bending, and extension.
