Soft pneumatic module and soft pneumatic gripper

A soft pneumatic module comprising:

• a first frame defining a first path portion;
• a second frame opposite to the first frame and defining a second path portion;
• a retainer connected to the first frame and the second frame;
• a plurality of first crease parts disposed along a circumference of the first frame at two sides of the retainer and obliquely disposed inward from the first frame;
• and
• a plurality of second crease parts connected to the plurality of first crease parts and the second frame, disposed along a circumference of the second frame at the two sides of the retainer, and configured to expand along with the plurality of first crease parts as a fluid is injected into the soft pneumatic module,
• wherein, as a distance from the retainer increases, a length of each of the first crease parts and a length of each of the second crease parts increase, and
• wherein a first crease part, from among the plurality of first crease parts, disposed farthest from the retainer and a second crease part, from among the plurality of second crease parts, disposed farthest from the retainer are connected to each other in a cross shape.