ndicators   Theoretical   Experimental   Actuation frequency             Air tank pressure             System power             Energy consumption per cycle            
The fabric-based soft finger (Figure S8d) is fabricated by 30D rib weft-knitted polyester fabric coated with 0.2 mm-TPU (Jiaxing Yingcheng Textile Co., Ltd, China). A laser cutter (VLS 3.50, Universal Laser Systems, USA) trims the fabric to the target CAD pattern, and then a heat-sealing machine (customized) manually seals the fabric pieces into actuators. Specific methods are referred to the work of Feng et al. [8]. For the extensive application, Ecoflex 0030 (Smooth On, USA) and M 4601 (Wacker, Germany) are mixed 1:1 (mass) to cast the fiber-reinforced silicone actuator (62.1 g).
For the quadruped robot (244.1 g), a body frame connects four Triple Bellows, shown in Figure S8g. The body length of the quadruped robot is 220 mm, and each foot is 100 mm long (Figure 5b). Silicone feet (Sujie, China) are stuck on the caps of the Triple Bellows to prevent slipping.