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Typically, the soft robot designer starts from a type of soft actuation technology at a component level, rather than from a systems engineering level. The characteristics of soft actuation technology may apply constraints on the final system. Bond\u2010graph theory can be used to graphically represent a model of the energy transfer through a system. Top\u2010level abstraction can be in the form of a word bond\u2010graph and bond\u2010graph elements can form a lower component level abstraction. Herein, bond\u2010graph abstraction is applied to different soft actuators and their essential characteristics are identified from an energy\u2010based perspective. Several distinct soft actuation technologies are represented using bond\u2010graph components for each of the key elements: the energy source, the intermediate energy storage, energy dissipation, energy transformation, and the interaction with the environment. By applying this analysis, the soft robot designer is enabled to select the most suitable actuation technology to fulfill their top\u2010level system requirements independently of the actuation domain. 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