The invention discloses a bionic flexible driver based on sarcomels, and belongs to the technical field of soft robots. The driver comprises an external pneumatic
artificial muscle driving
unit group, an internal bionic stretch-draw integral framework, an upper connecting disc buckle group and a lower connecting disc buckle group. The external pneumatic
artificial muscle driving unit set is composed of four external pneumatic
artificial muscle driving units distributed in a cross shape and serves as an active driving source. The internal tensioning integral framework achieves self-balance and self-stabilization through prestress. Differential air pressure is applied to all the external pneumatic artificial
muscle driving units, the external pneumatic artificial
muscle driving units are controlled to generate non-uniform axial contraction, and therefore the
whole body is driven to achieve controllable bending movement. According to the flexible
actuator, the sarcomedo bionic principle and the
tensegrity structure are fused, the rigidity and stability are remarkably improved while good flexibility is kept, the problems that a traditional flexible
actuator is low in rigidity, slow in response and insufficient in
deformation control precision are effectively solved, and the flexible
actuator is suitable for
robot operation scenes needing high flexibility and environmental adaptability.