Tests with laser cut felt in texture morphing soft robotic structures: During these tests it became clear that, although the felt worked well for making the actuators more rigid at the outer edges, this material would not be ideal for covering the moveable top surface. Firstly, the felt was very thick and needed a large amount of Ecoflex silicone for the covering. Secondly, the material was too rigid to allow for the cut-out air pockets to inflate properly. Instead, the Ecoflex would inflate on the inward-facing side, which was not the intention. The outcome of the tests did, however, suggest that the laser cut felt could be ideal as a base layer for stabilization in soft robotic wearable structures.
Furthermore, some of the materials used in these tests would rip or separate from the Ecoflex when the soft robots reached a certain level of inflation. The various tests with this particular method and the "material back talk" (Schön 1983, 1987) from these, indicated that moving towards working with simple forms and shapes in the fabric would allow for more complex visual aesthetics when inflated.