Figure S1. Performance of typical soft pneumatic actuators and typical air supply systems. a The actuation speed and efficiency of typical pneumatic soft actuators. The actuation speed and the efficiency depend on the pressure of the air source, working pressure, actuator, and actuation mechanism, which makes it challenging to compare actuation speed and efficiency with the same scale. Here, we present a normalized indicator as a metric for actuation speed based on Table S1. And the efficiency is qualitative according to existing research.[22,34,43,44] b Typical air supply systems. The air source includes single, serial, parallel pumps, and air source with phase-change medium and chemical pups. The supplying mechanisms include DIDO, EEAR, and IEAR (this work). These air source and supplying mechanisms can be further combined to achieve various performances.[34,43,44,48,49]