Fig. 5.

(A and B) Experimental (solid lines) and numerical (dashed lines) pressure–volume curves for two soft actuators comprising $n=2$ fluidic segments. (A) Results for a combined actuator with $\left(L_{braid},L_{tube}\right)=\left(48,30\right)$ and $\left(50,20\right)$ mm. The transitions for this actuator are highlighted by diamond markers in Fig. 4. Snapshots of the combined actuators 0.5 mL before and after each state transition (at $v=4,26$ mL) are also shown. (B) Results for a combined actuator with $\left(L_{braid},L_{tube}\right)=\left(44,30\right)$ and $\left(48,26\right)$ mm. The transitions for this actuator are highlighted by square markers in Fig. 4. Snapshots of the combined actuators 0.5 mL before and after each state transition (at $v=5,16,24$ mL) are also shown. Experimentally measured exerted force as a function of the supplied volume for a combined actuator with (C) $\left(L_{braid},L_{tube}\right)=\left(48,30\right)$ and $\left(50,20\right)$ mm and (D) $\left(L_{braid},L_{tube}\right)=\left(44,30\right)$ and $\left(48,26\right)$ mm with constrained ends.