Illustrative setup of static measurement device (zwick/roell, Z005) used for characterization experiments. 1) Movable linear stage used to compress the actuator module in a constant speed of 30 mm/min without any additional disturbance. 2) Mechanical pressurized clamps with gripper in order to hold the actuator modules in place preventing from mechanical instability.  3) Load cell of 1 kN from Zwick and Roell to measure the extension or pulling force of the actuator under different circumstances such as variable pressure, different size and mode of actuation. The sequence of experimental procedure are as follows, first the pressure input is turned on (actuated) which pulls the actuator along with the loadcell causing increase in the force and the linear stages compresses down to 20 mm displacement and then pulled up to the original state. This is repeated for 11 cycles for every characterization experiments.