Soft inflatable bending actuators are mainly made from silicone and fabric materials. I personally prefer working on fabric-based ones since they are more elastic, more suitable for human-robot interaction, and they can exert higher forces on the environment. From the figure on the right, it can be seen that in terms of applying forces, commonly used silicone actuators cannot keep up with ones made of fabric.

The video on the left shows our novel elastic band integrated fabric actuator. This actuator is tailored such that it can apply high forces to the environment and can bend high angles even with low input pressure values.