McKibben muscles can claim high power to weight ratio,important for performance and light weight,a vital component of the inherent safety approach to physical human-robot interaction.In this paper,based on the working theory of PAM,two different size PAMs were designed and manufactured.Experiment systems were set up,and performance comparison tests of these two self-made PAMs and Shadow PAM were carried out.Experiments show that,on the premise of reducing the cost,self-made PAMs have the advantage of higher percentage of contraction and repeated positioning accuracy.The stiffness of self-made PAMs can be adjustment to the desired stiffness by adjusting the geometrical dimensions.