Fluid pressure actuator

A fluid pressure actuator comprising a cylindrical tube that expands and contracts by fluid pressure, a sleeve that is an elastic structure made of woven fiber cords oriented in a predetermined direction and covers an outer circumference of the tube, and a sealing member that seals an end portion in an axial direction of the tube, wherein

• a bamboo shoot part is formed on a free end side of the sealing member to enable engaging and retaining a cover member that is separate from the fluid pressure actuator,
• the bamboo shoot part being a plurality of stages of an engagement structure in which a plurality of truncated square pyramids, each having an external shape in which a small-diameter portion and a large-diameter portion are connected by a tapered surface, are successively formed along the axial direction of the fluid pressure actuator,
• the cover member having an insertion hole, and
• the plurality of stages of the engagement structure being configured to engage with the insertion hole so that the cover member is less likely to disengage in the axial direction.