This is a video from 2012 of a Festo fluidic muscle and it is amazing at how smoothly the fingers move way back in 2012. https://www.youtube.com/watch?v=2iG1ybuchx0
We need to compare and contrast these different soft robot ideas with the Festo versus the Hasel and the McKibben artificial muscle.
Some critics call many Youtube videos showing a Mckibben muscle a “chinese finger trap in tubing.
The actual material in a high quality Bridgestone Tokyo Mckibben muscle is apparently kevlar with biaxial braid.