fig3
![Soft alchemy: a comprehensive guide to chemical reactions for pneumatic soft actuation](https://image.oaes.cc/d4518962-aad5-4d60-90a2-5af1eeaa3b4d/ss3052.fig.3.jpg)
Figure 3. Geometry used as a resource for achieving tunable motions and controlled deployment. (A) and (B) portraying the use of origami patterns to move and deploy modular structures in a controlled way. Reproduced with permission[56]. Copyright 2022, Wiley Materials. Reproduced with permission[55]. Copyright 2021, Springer Nature; (C) shows pneumatic actuators with integrated kirigami patterns used to restrict specific regions of the actuator and achieve controlled actuation. Reproduced with permission[54]. Copyright 2020, Wiley Materials.