A key feature of textile actuators is the low cost and ease of fabrication. Using inexpensive tools, such as a sewing machine and an impulse sealer, functional actuators can be realized. The fabrication process is absent of complex 3D molding and casting processes that are required to build elastomeric fiber-reinforced actuators. Two simple, but separate fabrication processes are needed to make a fabric pocket and a balloon. The following sections detail how to make each component and assemble the two once they are made.