The current address of SciHub is https://sci-hub.tw/ https://sci-hub.tw/, and the DOI of the paper is 10.1126/scirobotics.aat1853. As for the actuators: "One o

The current address of SciHub is https://sci-hub.tw/ https://sci-hub.tw/, and the DOI of the paper is 10.1126/scirobotics.aat1853. As for the actuators: "One of the implementations used pneumatic actuators integrated into an elastomer substrate, whereas the other used coiled shape memory alloy (SMA) actuators integrated onto a fabric substrate."