Figure S5. Theoretical and experimental pressures of Double Bellows and Triple Bellows (0-30 s and detailed 0-3 s). a Pressures of the Double Bellows with DIDO. Following the initial actuation cycles, the Double Bellows exhibits a rapid transition and enters a steady-state pressure response. b Pressures of the Double Bellows with IEAR. A more gentle transition means enhanced air supply ability.  c Pressures of the Triple Bellows with DIDO. d Pressures of Tripe Bellows with IEAR. The discrepancy between the model and experiments, especially the cumulative time shift, might come from the ignorance of the actuator mass, actuator volume modeling error, and inconsistency of the used commercial solenoid valves.