Abstract
The purpose of this study is to develop a contractile pneumatic rubber muscle which has a high contraction rate. The developed rubber muscle is constructed an expansion rubber unit and a nylon band. Since the expansion rubber unit is put between the nylon band, the expansional displacement of the expansion unit is converted to the contractile one by the nylon band. In this paper, the structure of the developed rubber muscle is discussed, and then the characteristics of this muscle are described.
