1967 – B.F. Goodrich “Rubber Muscle” – John S. England (American)

A Slightly different tack was taken by B. F. Goodrich in a "rubber muscle" project. If a straight piece of rubber hose with specially wound reinforcing cord is pressurized with a liquid or gas it will bend to form an arc; if more pressure is applied, the curvature increases until the hose becomes a ring. Goodrich made a six-finger "hand" from this special hose that had some prehensile properties.

The below patent is most likely the patent related to the Goodrich "Rubber Muscle".