By taking advantage of pneumatic actuators that have features of higher force / mass ratio, lightweight and flexibility based on compressibility, we have developed low-cost wearable actuators and low-cost home-based rehabilitation devices that can be disposable after using it. Specifically, we developed a flexible pneumatic cylinder that can be used even if the cylinder bends. A spherical actuator that consists of two flexible pneumatic cylinders have been also developed as an application for portable rehabilitation device. We have also developed a low-cost wearable servo valve using buckled tubes, an artificial muscle with built-in displacement sensor and a pipe inspection robot using extension type flexible pneumatic actuators. In addition, aiming at globalization for students, all graduate students in our laboratory have presentation in international conferences.