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