For the existing pneumatic soft actuator based on proton exchange membrane,its sealing structure is formed by bonding the soft structure and the proton exchange membrane,and the working pressure is low,which limits the performance of the pneumatic actuator.A self-sealing structure that achieves sealing with the pneumatic pressure inside the gas chamber of the soft pneumatic actuator was designed for the soft pneumatic actuator based on proton exchange membrane,so as to improve the working pressure of the pneumatic soft actuator.The sealing characteristics of the self-sealing structure and the influence of the key structure dimensions on the sealing performance were analyzed with the finite element analysis method.It is found that the sealing ability of the self-sealing structure can be improved by increasing the inclined angle and the top width of the sealing ring structure and reducing the thickness of gas chamber inner wall.Compared with the inclined angle and the thickness of gas chamber inner wall,changing the top width of the sealing ring can significantly improve the sealing ability of the self-sealing structure.The sealing performance of the self-sealing structure was tested through experiments with the results of finite element analysis.The experiments show that the soft pneumatic actuator based on proton exchange membrane with this self-sealing structure has higher working pressure and has stronger deformation ability and load capacity.Moreover,the self-sealing structure can protect the structure of the soft pneumatic actuator from overpressure through sealing failure.