## 4 Discussion
However, this would rely on the stiffness of the skin; the modulus of the fat and muscle layers must be taken into consideration when determining how to inflate the SPA chamber in a clinical setting [47]. The results of the simulation study and experimental testing showed that the SPA system's silicone material stiffness had a significant impact on how the device deformed and how much pressure it applied to the skin. The fabrication of soft actuators is continually evolving to further increase the prevalence of readily available soft robots among a wider group of professionals [48]. From this perspective, soft actuators need to be more affordable, safer, lighter, and more accessible. The proposed pneumatic soft actuator system was fabricated using readily available food-grade silicone. The system applicability is evaluated using FEM and experimental testing. Through this study, a few significant contributions were highlighted:  
* This SPA model presented the soft, robust, biocompatible, and non-hazardous materials that have the elasticity properties of commercial silicone, and the extreme deformation change accompanying a pressure transition. The materials have high tensile strengths similar to conventional silicone-based elastomers--up to 1000%. These features have the potential to produce higher deformation with excellent tear resistance while maintaining the appropriate compression pressure on the calf. * The proposed system is a simple and lightweight sensor-based SPA system with the dimensions of 10 cm in length, 8 cm in width, and 6 cm in height. This system offers the option of employing a simple, lightweight pump with adjustable cycle time and pressure supply settings for individual comfort. It is an appropriate compression device for offering safe and effective compression therapy while being lightweight enough for the user to carry. This prototype can serve as a new rehabilitation tool that can improve the quality of life for individuals with lower-limb disabilities. The use of these devices can potentially reduce the need for traditional physical therapy, leading to more efficient and cost-effective treatment options. * We provide a comprehensive analysis by considering the inner wall pressure distribution in simulation and anticipate actual compression to the calf. With the comparison of the inner wall pressure and the pressure transferred by the SPA chamber onto a mannequin leg, we can determine the compression capability before clinical testing. The maximum deformation of the 3D model at the inner wall of the chamber was 25.34 mm, whereas the maximum experimental deformation of the SPA chamber was 28 mm. It can be seen from the results that the experimental results for the SPA system show a more than 0.9 reliability agreement with the simulation data for the range of pressure 0-120 mmHg. * The research has the potential to contribute to improvements in health and socioeconomic development. The use of soft pneumatic actuators can lead to better rehabilitation outcomes, which can improve the quality of life for individuals with lower-limb disabilities. Improved rehabilitation outcomes can also lead to increased productivity and reduced healthcare costs. The use of cost-effective and efficient treatment options can potentially benefit low- and middle-income countries, where access to traditional physical therapy may be limited.