Figure S7. Influence of \(\Delta p\) on actuation performance of the Triple Bellows. The experiments include DIDO and IEAR with \(\Delta p\) =5, 10, 15 kPa and \(p_{low}\) =10 kPa. a Steady-state actuation frequency. b Steady-state system power. c Steady-state supplied air pressure (\(p_{tank}\) ). d Steady-state energy consumption per cycle. The model can predict the actuation performance with some errors (Supplementary Note 1).