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Villeda-Hernandez et al. Soft Sci 2024;4:14 https://dx.doi.org/10.20517/ss.2023.52 Page 29 of 35

Figure 10. Roadmap towards chemo-driven pneumatic actuation. Crucial areas of consideration for the development of reliable,
sustainable, and compliant chemo-driven pneumatic soft actuators. Dashed arrows represent the feedback loops present on each of the
crucial areas to allow for the optimization of chemo-driven actuators.

DECLARATIONS
Acknowledgments
This manuscript significantly extends and elaborates upon the work previously conducted by Villeda-
Hernandez M for his doctoral thesis, officially submitted on October 03, 2023. The thesis has been
appropriately cited within the manuscript, ensuring that this foundational piece of work is recognized for its
contribution to the field of pneumatic soft actuation. All authors acknowledge the Engineering and Physical
Sciences Research Council (EPSRC) for their funding under grant No. EP/T020792/1.

Author’s contributions
Conceptualized and designed the review: Villeda-Hernandez M, Baker BC
Wrote the original draft: Villeda-Hernandez M, Baker BC, Romero C
Reviewed and edited the final manuscript: Villeda-Hernandez M, Baker BC, Romero C, Faul CFJ, Rossiter
JM
Provided supervision: Faul CFJ, Rossiter JM

Availability of data and materials
Not applicable.

Financial support and sponsorship
All authors thank the Engineering and Physical Sciences Research Council (EPSRC) grant No. EP/T020792/
1 via the emPOWER project.

Conflicts of interest
All authors declared that there are no conflicts of interest.

Ethical approval and consent to participate
Not applicable.

Consent for publication
Not applicable.

Copyright
© The Author(s) 2024.