Researchs are being conducted on care and welfare robot systems using soft pneumatic actuators and embedded controllers that can be used in ordinary homes. One of my research is the upper body support device for caregivers inclouding the part of arm will improve human affinity and do not interfere with caregiving movements. Because of an inexpensive, lightweight, and waterproof embedded controller, the support device can be used in small and humid spaces. The other one of my research is about the the walking training device for visually impaired children that is to reduce the burden on walking trainers, who are facing a shortage of manpower, and to reduce the physical and mental burden on the guardians. In addition, in my lab, we also develop the mattress that uses a flat soft actuator to change the position of contact between the body and the actuator by varying the applied pressure over time. Because when caring for the elderly and severely disabled, changing positions to prevent bedsores for bedridden patients which increases the caregiver’s restraining time and increases the mental burden.