A) Force reading with the initial response of the actuator before applied vacuum (A) and after applied vacuum (Aâ) and from here it compresses down to 70% of the strain upto point B and pulled back to the initial position (c).Thereafter goes with the cyclic compression and extension phase of the actuator. This is to support the result shown in Figure 3A. B) Tunable stiffness of the actuator at multiple pressure input (-30, -60, -90) kPa exhibiting increase in stiffness factor (k) during extension profile of the sensorized actuator. This is to support the result shown in Figure 3D and the corresponding value of âkâ stiffness factor is shown in the table below Table S3.