With evenly distributed pleats, the actuator seems to fold better. However, it didn’t make a round form as seen on the picture till I make the form. I think it is because of the weak pumping power. 

I did the first test for the soft actuator following the method described in Aero-morph. I used the TPU coated fabric bought in and 경기(동대문 종합상가 B동 3층 3098, 02 2266 4909): TPU코팅 패브릭 (데쌍고신축사, 5800원/마). It was sealable in 130-140 Celsius with a soldering machine but the seam was not perfect with wrinkles. The paper said the direction will determined by the side where is heat-sealed but it turned out that it is not always the case. 

The urethane transparent vinyl was not sealable with the soldering tip so that other methods should be explored.

Things to do:

Figure out how to seal better.

Try various texture.

Order pumps, valves, and connectors.