Abstract
The mass of robots with multi degrees of freedom is inevitably large due to achieve high accuracy or output force. Lightweight of the robots is important factor in order to use in life space. As methods of lightweight for robots several soft actuator s made of rubber material have been developed. In our researches, Inflatable and Flexible Actuator (IFA) has been developed. This actuator is a bag shape made of plastic films. This actuator is very lightweight but the rigidity is not sufficient for utilizing as a life support manipulator. This paper describes several structures to reinforce rigidity for the IFA.
