When you fill a balloon with helium, it has a lower density compared to air or helium. That low density also means it has less stored energy that will convert into a sound.
Experiments show that gases with higher density produce louder noises when poppped ^[source](https://www.researchgate.net/profile/Jim-Ross-2/publication/339513438_Why_Balloons_Make_a_Loud_Noise_When_They_Pop/links/5e56e7cc92851cefa1c7dc6c/Why-Balloons-Make-a-Loud-Noise-When-They-Pop.pdf)
The gas won’t always determine the volume of the balloon, though. It’s really just about the density of the gas — so if you have partially filled balloons, you wouldn’t hear the same effect.
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