Xiaofan and I designed a mold for an inflation-actuated silicone finger. The part is able to bend at two joints, and is made by combining two silicone parts which each have a mold set.
Here are some graphics of the silicone part we designed:
Here is the link to a Google Drive folder containing a CAD file for each of the four 3D printed mold parts, as well as a part file for our silicone finger.
https://drive.google.com/file/d/1RhHOT0v30i0zLhumngqdH4z_Mqq6vDU_/view?usp=share_link