Abstract: Pneumatic rubber actuators have several advantages such as
light weight, large force/torque and so on. Especially, rotary rubber
actuators are very useful to support human motions. In this paper, we
analyze rotary rubber actuators from a qualitative viewpoint.
Moreover, several experimental results demonstrate efficiency of a
rotary rubber actuator obtained from the qualitative analysis.
Keywords: Pneumatic Rubber Actuators, Rotation, Mechanical Restraint