#  Adding a Motion 

 



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 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.

   ![multi-dof_layers_02.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/sorotoolkit/files/multi-dof_layers_02.jpg?itok=Y6w95K33) 

 

   ![3states.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/sorotoolkit/files/3states.jpg?itok=WyxL2Pt4) 

 

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