Figure S9. Application on a silicone actuator, the influence of a larger air tank on IEAR, and the comparison with EEAR. a Fiber-reinforced silicone actuator with two chambers. b Actuation frequency of the silicone actuator with DIDO and IEAR. c Energy consumption per cycle of the silicone actuator with DIDO and IEAR. d Actuation frequency of Double Bellows with the air tank volume 1 L and 11L, respectively. e Energy consumption per cycle of Double Bellows with the air tank volume 1 L and 11L, respectively. f System configuration of EEAR, where the air buffer is introduced to recycle the exhaust air. g The structure of the 100 mL air buffer. h Actuation frequency of Double Bellows with four modes: DIDO, IEAR, EEAR, and DIDO+EEAR. i Actuation frequency of Triple Bellows with four modes as before. j Steady-state actuation frequency of Double Bellows with four modes as before. k Steady-state actuation frequency of Triple Bellows with four modes as before.