fig7

Figure 7. Coupling of GER and GCR as power sources. (A) Parallel configuration: Both GER and GCR are activated or opened simultaneously, resulting in actuation from the rest state with the GERs and GCRs valve closed state, as described in ref^[115]; (B) Serial configuration: the GER and GCR work independently and are alternated to achieve actuation in different directions. In this configuration, one power source is activated or open while the other remains inactive or closed, and the roles are reversed to change the direction of actuation. GER: Gas evolution reaction; GCR: gas consumption reaction.