<；P>；PROBLEM TO BE SOLVED: To solve the problem that since a cylindrical shape member is used as a matter holding device, it is hardly passed through a joint when used as a mounting band of a joint driving actuator, and that the control of holding force is performed at a high production cost by a large-scaled system. <；P>；SOLUTION: A platelike member 11 is composed of a plurality of rigid bodies 111 and both of whose ends are connected by hinges 111a. Accordingly, the platelike member 11 is curved. In a flat actuator 12, a plurality of flat tubes 121 are connected in parallel to each other. Further, in the flat actuator 12, flexible members 122 consisting of canvas are pasted on the rigid bodies 111 at the middle points of them. One flat tube 121 is inserted in each of the gaps between the flexible members 122 and the rigid bodies 111. When air is supplied to the flat tubes 121 in a non-held state (non-curved state), force f<；SB>；r<；/SB>；in a radial direction is produced from the respective flat tubes 121 in a held state (curved state). <；P>；COPYRIGHT: (C)2010,JPO&INPIT
