Table 1.

Output force at the end of the soft actuator without constraint rings (F/N).

	Angle/(°)	0	15	30	45	60	75	90
Pressure/kPa
10		0.07	/	/	/	/	/	/
20		0.24	0.15	0.08	/	/	/	/
30		0.46	0.36	0.29	0.21	0.11	/	/
40		0.72	0.61	0.53	0.45	0.36	0	/
50		1.08	0.95	0.84	0.73	0.64	0.52	0
60		1.36	1.22	1.09	0.95	0.84	0.71	0.55