A soft body actuator with soft behavior and low complexity is introduced based on the cosine type circular concave negative Poisson's ratio cell element. The actuator consists of a three-dimensional embedded tubular structure with negative Poisson's ratio (NPR) cell element and positive Poisson′s ratio (PPR) cell element and a pneumatic rubber tube. The bending function of the tubular structure in the inflation and expansion of the pneumatic rubber tube is realized by using the ABAQUS finite element simulation. The differences in the influence of the structural parameters such as number of longitudinal cytons of the actuator

thickness of the metamaterial structure and thickness of the pneumatic rubber tube on the maximum bending angle under different inner wall pressures are compared and analyzed by controlling the variables. Meanwhile

the trend of the influence of the above structural parameters on the maximum bending angle is summarized

which provides an alternative solution for the structural design and application of the new flexible actuator.