Problem to be solved: to provide a fluid pressure actuator capable of exhibiting a larger bending force in one direction and in the opposite direction while avoiding a larger size.The actuator unit 10u is a cylindrical tube 110 that expands and contracts by the pressure of the fluid, and a stretchable structure in which the fiber cord oriented in a predetermined direction is knitted, and the sleeve 120 covers the outer peripheral surface of the tube A sealing member for sealing an end portion in the axial direction of the tube 110 is provided.The tube 110 is provided in a plurality of rows along the orthogonal direction orthogonal to the axial direction.The actuator unit 10u is provided with a restraining member 150 extending from one end side in the axial direction of the tube 110 to the other end side in the opposed portion of the adjacent tube 110.The restraining member 150 is resistant to axial compression and can be deformed in the orthogonal direction.Diagram
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