Transformable Pneumatic Soft Structures

A textile sheet having a thermoplastic coating on an interior of the chamber. The left and right-side area of the chamber are folded inward, towards each other, in a V shape, with the point of the V directed to the interior of the chamber. The textile sheet is heat sealed at ends of the sheet to render the chamber airtight, forming a 4-layer structure in at least lateral portions of each of a first and second end of the chamber with on the left side of the chamber, in order, a top portion of the textile sheet, an upper portion of the V shape, a lower sheet portion of the V shape, and a bottom portion of the textile sheet and with on the right side of the chamber, in order, a top portion of the textile sheet, an upper portion of the V shape, a lower sheet portion of the V shape, and a bottom portion of the textile sheet. The upper portion of the V shape being sealed to the top portion of the textile sheet in a plurality of locations along the chamber and the bottom portion of the textile sheet being sealed to the bottom portion of the textile sheet in a plurality of locations along the chamber.