4.5  Indicators of actuation performance

The actuation performance is primarily quantified by the following four indicators: actuation frequency \(f\) , air tank pressure  \(p_{tank}\)(supplied air pressure), system power \(P\), and energy consumption per cycle \(e\) . The calculation methods are presented in Table 1 (See Supplementary Note 13), where the average is obtained from a time interval after transition into steady-state actuation and  \(N\) is the equivalent weighted average number of solenoid valves in use for a working cycle (Figure S2d). All the experimental results in this work are obtained from seven repetitive measurements.
Table 1. Calculation of the actuation performance indicators