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The technological revolution has caused the modernization of human–machine relationship changing our approach in problem solving our society issues and deviated the science of robotic all together. An example for one of the most important pawn in this revolution is soft robotics, the soft robots are robots that are made of deformable materials that provide an alternative approach to rigid robots. The soft pneumatic actuator (SPA) is one of the most widely used and studied form of this type of robotics. In this study, a new geometrical parameter of the SPAs is introduced by studying the effect of the change of the air pillow Inclination angle on the SPA work envelope and tip reaction force against wide range of positive and vacuum pressure applied on SPAs inner surfaces. We are elaborating this effect by using nonlinear static Finite Element Analysis. (FEA) basing it on the hyper-elastic material model identified by …