| 摘要 |
A pair of flexible actuators according to the present invention is supported by a fixture made of a hard rubber at base ends of the flexible actuators. Each flexible actuator includes a movable unit that is capable of bending, a pump unit integrally connected to the movable unit at an end thereof, to control transfer of work fluid sealed in the movable unit, and a pump driver that controls driving of the pump unit. The movable unit includes two long and narrow tubes that each have an accordion wall, a core that maintains the tubes in parallel with each other, and a thin-film-bag-like cover that covers the tubes. The tube, which comes into contact with an object, is made of a soft material. The movable unit that is provided with the tube softly comes into contact with the object at a plurality of plane-contact portions of action of the movable unit, thereby holding the object without scratching the same.
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