Recently, the requirement for development of soft actuator for the rehabilitation device and power assisting devices is increasing. However, development of a flexible actuator that has both larger force and longer stroke has not been carried out. In addition, it is also difficult to realize a flexible displacement sensor with long stroke while deforming its form according to the actuator’s shape. In this paper, development of the flexible actuator with larger force and longer stroke that can adjust its stroke by giving stepping motion using pneumatic balloons and brakes is described. The fundamental performance of tested actuator is also investigated.
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