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The soft actuator represents a valuable addition to the robotics research area in last two decades. These actuators provide significant features such as lightweight, softness, high force to weight ratio and the ability to form in different shapes. This article presents a new length model to the single extensor pneumatic muscle actuator (PMA) which is depended on the constructed parameters and the air pressure. On the other hand, the tensile force formula of the contractor actuator has beendoi:10.1080/21642583.2018.1451787 fatcat:vp3ivf6tbjbxjcpmxlc2rzluxy