  The elastic bands integrated using the ruffles technique proved to be
effective in enhancing the performance of the soft robotic structures. In the
actuator application, the elastic bands greatly increased the bending
capability and force capability of the structure, while in the eversion robot
cap application, the elastic bands improved the performance slightly by
maintaining the sensory payload at the tip without restricting the eversion
process. These findings demonstrate the potential of using elastic bands and
textile techniques in soft robotics to create more efficient and adaptable
structures.
