In this paper, a new type of microactuator applicable to the artificial muscle for driving robots has been devised and analytical procedures for designing the actuator have been derived. The actuator has the characteristics of simple structure, flexibility, and is given the moving and deforming abilities of bending, waving, holding, and coiling according to the arrangement of a longitudinal reinforcing fiber. Several types of rubber actuators were prepared, and their static characteristics were measured and compared with the theoretical ones. Some applications were also considered. It was found that the holding force should be estimated in consideration of three-dimensional stresses and an increase in an inner diameter, and that the actuator using the material of lower Young modulus gives stronger force if the other states are under the same conditions.