An actuator includes a plurality of chambers comprised of an extensible material, the chambers having interior side walls and exterior walls, wherein at least a portion of the interior side wall is separated from an interior side wall of an adjacent chamber; and a strain limiting base; and a channel that fluidically interconnects the plurality of chambers, wherein the interior walls are configured to be more compliant than the exterior walls.
STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT
 The present invention was made with United States government support under Grant No. DE-FG02-00ER45852 awarded by the Department of Energy, DARPA Grant No. W911NF-11-1-0094, and the NSF Grant No. DMR-0820484. The United States government may have certain rights in this invention.