Advances in development of linkage integrated tubular actuators for gripping, wrapping, and general manipulation
purposes are described in this paper. Analytical and FE models are presented. The mechanical architecture based on
structural part called "elastic joint" is actuated inserting tubular elements. System embedding tubular actuators obtaining
the "joint actuator" is described in the paper. The tube is a sealed tight system which prevents incoming pollution due to
the actuation system. No leakage problems are issued, the actuator is suitable for common clean procedures which fit the
standards in clean-room environment. The motion system investigated use only "pipe shaped actuators", avoiding the
architectures with dynamic sealing. Investigated fluidic actuator is suitable for manipulation in clean room and it could
be used in general purposes mechatronic systems as well.