Abstract: 
Soft Robots with their inherent compliance, low power consumption, easy manufacturability, and cheaper production rates as compared to traditional actuators and robotic systems, are clearly the way to the future of robotics. Hemiparesis, or unilateral paresis is the complete disability of an entire side of the human body owing to stroke, trauma, tumor or congenital diseases. Rehabilitation and physiotherapy has been experimentally found to be beneficial for people suffering from the same genre of diseases, who often develop muscle cramps and sores owing to lack of movement. Modern rigid link rehabilitation devices have high power consumption, limited spatial orientations, dexterity, and kinematic configurations. They solely depend on alignment of the robot link and that of the wearer. This can be seen..........Thus, even a slight disorientation results in pain on the part of the wearer and the device does not perform as it is expected to. Bending pneumatic actuators such as the Bi-Bellows and Fiber reinforced actuators are being used as in the recent times as effective replacements of rehabilitation devices in the form of gloves besides McKibben which has been used for lower limb actuation as well. The present day Bi-Bellow actuators has a single DOF and can generate bending motion in one direction, upon application of suitable air pressure. After the actuation cycle has completed, the return to the default position is passive. This results in a longer cycle time and some effort on part of the wearer. The actuator developed herein has complementary air channels placed at 180 degrees which act as a pair of agonistic-antagonistic muscle pair, thereby making it possible for the actuator to attain 2 DOF depending upon which air channel is being actuated, reducing cycle time.