Abstract: A modular pneumatic robotic actuator, including a first elongated hollow structure and a second elongated hollow structure connected to each other at a moveable joint; an inflatable bladder comprised of an elastomeric material disposed at the said joint and immobilized between the first and second hollow structures, wherein the said inflatable bladder inflates preferentially away from the joint; and a restraining membrane comprised of an elastomeric material disposed over the bladder and connecting the first and second hollow structures, wherein the said restraining membrane is relaxed when the bladder is deflated.

Abstract: A modular pneumatic robotic actuator, including a first elongated hollow structure and a second elongated hollow structure connected to each other at a moveable joint; an inflatable bladder comprised of an elastomeric material disposed at the said joint and immobilized between the first and second hollow structures, wherein the said inflatable bladder inflates preferentially away from the joint; and a restraining membrane comprised of an elastomeric material disposed over the bladder and connecting the first and second hollow structures, wherein the said restraining membrane is relaxed when the bladder is deflated.

Abstract: A modular pneumatic robotic actuator, including a first elongated hollow structure and a second elongated hollow structure connected to each other at a moveable joint; an inflatable bladder comprised of an elastomeric material disposed at the joint and immobilized between the first and second hollow structures, wherein the inflatable bladder inflates preferentially away from the joint; and a restraining membrane comprised of an elastomeric material disposed over the bladder and connecting the first and second hollow structures, wherein the restraining membrane is relaxed when the bladder is deflated.

Abstract: A modular pneumatic robotic actuator, including a first elongated hollow structure and a second elongated hollow structure connected to each other at a movable joint; an inflatable bladder comprised of an elastomeric material disposed at the said joint and immobilized between the first and second hollow structures, wherein the said inflatable bladder inflates preferentially away from the joint; and a restraining membrane comprised of an elastomeric material disposed over the bladder and connecting the first and second hollow structures, wherein the said restraining membrane is relaxed when the bladder is deflated.