Fabrication procedure. (a) 3D printed HA’s exoskeleton section. (b) HA’s silicone chamber section inserted into the exoskeleton section. (c) Elastomeric chamber being inserted into the exoskeleton bonded units and (d) an actuated HA’s AAC. (e) 3D printed TA’s exoskeleton section; (f) toroidal silicone sections being glued using a guiding insert. (g) Demonstration of how the toroidal sections fit into the exoskeleton section before bonding and encasing them to shape an AAC. (h) An actuated TA’s AAC.