Since working cycles in practical applications can generally be approximated as an isothermal process (open system), the integral \(\int{pdV}\)can be used to determine the change in internal energy of the compressed air. In this sense, our IEAR mechanism essentially shortens the working cycle (i.e., the energy path), avoids the high energy loss observed in the traditional DIDO mechanism (Figure 1c), and leads to enhanced air supply, thus improving the actuation speed.