This document provides step-by-step instructions for simulating a soft pneumatic actuator using Abaqus. It describes: 1) Importing actuator part files and designing a piece of paper part within Abaqus. 2) Creating materials, sections, and assigning them to parts. 3) Assembling parts and creating a skin to represent the paper. 4) Meshing and applying boundary conditions like gravity and pressure loads. 5) Submitting the job and viewing results.