Fig. S5.

Numerical procedure to determine the equilibrium configurations for a combined actuator with $n=2$. (A) We identify the volumes of each segment that correspond to a given value of pressure (in this case $p_{point}$). (B) We find all corresponding equilibrium configurations for the combined actuator by combining all those volumes. (C) Because $v=v_1+v_2$, we can also identify all equilibrium points in the pressure–volume curve for the combined actuator.