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. \cite{Feng.2021}. 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.
Acknowledgements
M. Feng conceived the idea and contributed to experiments, modeling, data processing, and writing. D. Yang assisted in experiments and writing. G. Gu and C. Majidi supervised the project and contributed to the design of experiments and writing. All the authors provided feedback and agree with the final version of the manuscript.
We thank W. Wang and Y. Su for their suggestions on airflow modeling at the early stage of this work. This work was partially supported by the National Natural Science Foundation of China (Grant Nos. 52025057 and 91948302) and the Science and Technology Commission of Shanghai Municipality (Grant No. 20550712100).
Conflict of interest
The authors declare no conflict of interest.