fig2
![Soft alchemy: a comprehensive guide to chemical reactions for pneumatic soft actuation](https://image.oaes.cc/d4518962-aad5-4d60-90a2-5af1eeaa3b4d/ss3052.fig.2.jpg)
Figure 2. Schematic of the deformation motions obtained by soft pneumatic actuation. (A) Linear actuation using folded membrane and strain-limiting geometries[37]; (B) bending actuation is achieved by the combination of a folded membrane and an inelastic region[38]; (C) twisting actuation is obtained by the combination of strain-limiting geometries and origami folding[39].