We are developing soft actuators and soft sensors with flexibility and safety in life support devices and human frendly robot that act directly on humans. In addition, we are developing a pipe inspection robot that has a flexible structure by itself using a pneumatic actuator that can run on its own in complicated pipe and can be used in a wet narrow space. Then, in order to reduce the weight and labor of the peripheral equipment for driving the robot, we have devised a control valve with excellent cost performance and a new propulsion mechanism of the robot, and are considering making the inspection robot compact. Furthermore, we are developing local structure control technology by using burnishing as research on processing technology.