  This paper investigates the influence of the internal geometrical structure
of soft pneu-nets on the dynamic response and hysteresis of the actuators. The
research findings indicate that by strategically manipulating the stress
distribution within soft robots, it is possible to enhance the dynamic response
while reducing hysteresis. The study utilizes the Finite Element Method (FEM)
and includes experimental validation through markerless motion tracking of the
soft robot. In particular, the study examines actuator bending angles up to
500% strain while achieving 95% accuracy in predicting the bending angle. The
results demonstrate that the particular design with the minimum air chamber
width in the center significantly improves both high- and low-frequency
hysteresis behavior by 21.5% while also enhancing dynamic response by 60% to
112% across various frequencies and peak-to-peak pressures. Consequently, the
paper evaluates the effectiveness of "mechanically programming" stress
distribution and distributed energy storage within soft robots to maximize
their dynamic performance, offering direct benefits for control.
