Adding constraining wire in FPA rubber tube results in the flexible pneumatic bending joint.This kind of joint can softly realize bending movement in a plane.

• 在气动柔性驱动器FPA的橡胶管壁内嵌入约束钢丝，得到气动柔性弯曲关节，该关节可以实现平面内的弯曲运动。