One of the many benefits of textile actuators is the ability to easily incorporate multiple motions into a single actuator. By simply adding a fabric layer and a balloon to a single motion actuator, another motion can be achieved. For example, a single actuator can produce separate bending and extending motions by making a 3-layer, 2 balloon structure. Shown in the figure below, inflating balloon 1 activates the bending motion by straining the high stretch fabric above more than the woven fabric below. Inflating balloon 2 strains the woven fabric above and below the same amount which produces an extending motion.
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