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Villeda-Hernandez et al. Soft Sci 2024;4:14 https://dx.doi.org/10.20517/ss.2023.52 Page 21 of 35

Figure 6. GCRs as a power source for negative pressure-driven actuation. (A) The reaction rate of the GCR of KOH with CO ; (B)
2
[31]
showing the effect of the GCR on the soft actuator when P < 0. Reproduced with permission , Copyright 2023, Mary Ann Liebert Inc.
GCRs: Gas consumption reactions.
Towards continuous actuation: coupling GER and GCRs
Chemical and safety considerations
As chemical reactions produce new products, the potential energy available in the resulting materials and
systems can present safety challenges. This energy can be rapidly released as heat or pressure, determined by
the kinetics and thermodynamics of the reaction , underlining the need for detailed knowledge prior to
[131]
application. The main experimental dangers arise from mischarging reactants, insufficient studies of the
thermo-chemistry, inadequate pressure or temperature control, unsuitable agitation, under-rated or
[132]
inadequate reaction chambers and containers, and human factors . Once the risks have been identified
and assessed, the system involving the assessed chemical reaction must incorporate design measures to
prevent those dangers.