During a research period of June-August 2020, a team of students from the Laboratory for Adaptation, Inclusion, and Robotics developed fabric-based pneumatic actuators for use in at-home physical therapy for children with spastic cerebral palsy. This paper focuses on the mechanical components of the device–specifically, what materials and productions methods are most effective in creating a useful, affordable actuator. It details the development of several working prototypes and what methods were used to test them, as well as what research remains to be done on this subject in the future.