An actuation system for actuating a soft robot, the actuation system comprising: a main camshaft; a motor configured to drive the main camshaft (104, 304) to rotate around a first rotational axis; an air bladder (116, 118, 120) configured to expel fluid from the air bladder during compression of the air bladder (116, 118, 120) and draw fluid into the air bladder during decompression of the air bladder; a cam (110, 112, 114) coupled to the main camshaft (104, 304) and configured to: rotate around the first rotational axis when the main camshaft (104, 304) is driven, and compress or decompress the air bladder (116, 118, 120) based on a physical profile of the cam as the cam rotates around the first rotational axis; a soft robot (132, 134, 136) coupled to the air bladder (116, 118, 120), wherein the soft robot is actuated to move based on the fluid expelled from the air bladder (116, 118, 120) that is inserted into the soft robot during compression of the air bladder or the fluid removed from the soft robot that is drawn into the air bladder (116, 118, 120) during decompression of the air bladder; characterised in that the actuation system further comprises: a hinge configured to cooperate with the cam (110, 112, 114); and a finger formed on the hinge, wherein the hinge moves in a direction away from the first rotational axis or a direction toward the first rotational axis based on the physical profile of the cam as the cam rotates around the first rotational axis, and wherein the finger compresses the air bladder (116, 118, 120) as the hinge moves in the direction away from the first rotational axis and decompresses the air bladder (116, 118, 120) as the hinge moves in the direction toward the first rotational axis. a main camshaft; a motor configured to drive the main camshaft (104, 304) to rotate around a first rotational axis; an air bladder (116, 118, 120) configured to expel fluid from the air bladder during compression of the air bladder (116, 118, 120) and draw fluid into the air bladder during decompression of the air bladder; a cam (110, 112, 114) coupled to the main camshaft (104, 304) and configured to: rotate around the first rotational axis when the main camshaft (104, 304) is driven, and compress or decompress the air bladder (116, 118, 120) based on a physical profile of the cam as the cam rotates around the first rotational axis; rotate around the first rotational axis when the main camshaft (104, 304) is driven, and compress or decompress the air bladder (116, 118, 120) based on a physical profile of the cam as the cam rotates around the first rotational axis; a soft robot (132, 134, 136) coupled to the air bladder (116, 118, 120), wherein the soft robot is actuated to move based on the fluid expelled from the air bladder (116, 118, 120) that is inserted into the soft robot during compression of the air bladder or the fluid removed from the soft robot that is drawn into the air bladder (116, 118, 120) during decompression of the air bladder; characterised in that the actuation system further comprises: a hinge configured to cooperate with the cam (110, 112, 114); and a finger formed on the hinge, wherein the hinge moves in a direction away from the first rotational axis or a direction toward the first rotational axis based on the physical profile of the cam as the cam rotates around the first rotational axis, and wherein the finger compresses the air bladder (116, 118, 120) as the hinge moves in the direction away from the first rotational axis and decompresses the air bladder (116, 118, 120) as the hinge moves in the direction toward the first rotational axis. a hinge configured to cooperate with the cam (110, 112, 114); and a finger formed on the hinge, wherein the hinge moves in a direction away from the first rotational axis or a direction toward the first rotational axis based on the physical profile of the cam as the cam rotates around the first rotational axis, and wherein the finger compresses the air bladder (116, 118, 120) as the hinge moves in the direction away from the first rotational axis and decompresses the air bladder (116, 118, 120) as the hinge moves in the direction toward the first rotational axis.