Supplementary Note 6. Experiments on the fabric-based finger

The structure of the robotic fin is presented in Figure 4g and Figure S8d, whose materials and fabrication methods are detailed in Methods- 4.6. Materials and fabrication of the robots in applications. The finger has a flexing and extending chamber, worn on a silicone hand with adult size through velcro. For the fabric-based finger, the experimental procedures are the same as testing Double Bellows (Supplementary Note 4), and the working pressure  with \(p_{tank}\) 50,60,70,80,90,100 and 75 kPa are covered, and \(\Delta p\)  is set as a constant value of 10 kPa. Also, each specified working condition is measured seven times to reduce random error.