1前言作为我国的课题,有人口下降、老龄化的问题,医疗机器产业作为维持高龄社会基础的大支柱之一而被关注,即支援人类各色各样系统的必要性日益提高,尤其对机器人的本职工作日益增大,目前,不仅限于刚性强的传统机器人,还要实现能与人进行协调工作,且具有柔性的机器人。在如此背景之下,气动的本职工作不仅在传统的产业用途,今后预计在其它 1 Introduction As a subject of our country, there is a problem of population decline and aging. Concerned about the medical machinery industry as one of the main pillars supporting the foundation of the elderly, that is, the necessity of supporting various human systems is increasing, especially for the robot Own work is increasing, at present, not only rigid traditional robots, but also to achieve coordination with people, and has a flexible robot. In this context, pneumatic work itself not only in the traditional industrial uses, is expected in the future