The gripper with a soft pneumatic actuator uses a soft material, unlike the gripper that uses a rigid body, so it is safer and lighter to interact with objects without advanced control technology. Among the soft pneumatic actuators that have been studied, PneuNets actuators have bellows shape, which enable quick operation and complete bending with only small material deformation at low pressure. In this study, we suggested improved form of PneuNets actuators to obtain the performance of the soft actuator that a larger bending angle and larger bending force at a small pressure. An experiment was designed and conducted to measure the bending angle and bending force according to the pressure. As a result, it was confirmed through experiments that the improved model has a maximum bending angle at a pressure of 5 kPa lower than that of the previous model, and a maximum bending force of 1.97 times at the same pressure.
