The bending actuators have strain limiting bottoms. These are made from Ecoflex 0030/0050 covered fabric and attached with a fresh batch of Ecoflex 0030/0050 acting as glue.
Casting Silicone Coated Fabric
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Place a piece of fabric on a flat non-absorbent surface
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Mix a batch of Ecoflex
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Pour a small amount of uncured Ecoflex onto the fabric surface
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Used a gloved finger to smear the uncured silicone so that it covers the surface with a layer of silicone that is approximately 1 mm thick
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Allow the silicone 4 hours to cure at room temperature
Cutting Bottom Part
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Place the cured silicone-coated fabric on a flat surface
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Measure out an appropriate sized piece by placing the actuator top parts on top of it
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Cut the piece with a pair of scissors