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(57) ABSTRACT A finger actuator, includes a plurality of fluidically inter connected inflatable chambers, wherein each chamber com prises outer walls having an embedded extensible layer selected to constrain radial expansion and freestanding inner walls; and an inextensible layer connected to the chambers at a base of the chambers, the inextensible layer comprising a flexible polymer and having an embedded inextensible layer that extends along the length of the finger actuator. 17 Claims, 11 Drawing Sheets