We have developed a slim hydraulic artificial muscle for jack-up tools. This muscle has the advantage at the ratio between generated force and mass, compared to the hydraulic artificial muscle which we developed preciously. The maximum force is 10700[N], and contraction ratio is 20%. By applying the slim hydraulic artificial muscles to tensile parts, new tensegrity stage was realized. Advantages of this stage are light weight, high force, and multi degrees of freedom. Two types of the Tensegrity stages were developed; 1-modure type and 2-modure type. Driving tests of these stages were carried out and their characteristics were evaluated.
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