The device offered is a pneumatic braided muscle actuator, able to produce bi-directional force and motion, and variable stiffness. Pneumatic muscles are generally preferred thanks to their high power to weight ratio, light weight, ease of installation, hazard-free use and inherent compliance. The existing/traditional pneumatic muscle actuators has a fixed braid fiber angle and are usually able to produce a pulling uni-directional force when actuated. Conversely this actuator is able to achieve variable stiffness depending on the braid angle...other