For the definitions of these variables, please refer to "the dynamic model of m-SPAs" in the main text.
The above dynamic model of m-SPAs is generally important to these multi-chamber lightweight soft/rigid actuators, even if their chambers have mutual interactions. Notably, since we do not consider the mass, hysteresis, or creep of the actuator, the model inaccuracy might increase for these actuators with great mass or materials that are not elasticity-dominated.