Soft robots, which are fabricated from materials capable of retaining their shape under normal conditions and altering it upon the application of pressure or force, are considered a critical area within robotic types. Due to the soft nature of the materials, the movement cannot be entirely predicted, effectively endowing the robot with an infinite number of degrees of freedom. In this study, three materials were utilized to simulate two prototypes. Initially, a single segment of an actuator was developed, driven by three inner chambers. The use of three inner chambers facilitates movement in all directions. Prior to incorporating the material into the final design, a dumbbell-shaped test specimen was created and subjected to testing to generate a stress-strain diagram. The test results were subsequently employed to determine the material characteristics, which were then used to simulate the arm behavior in the Abaqus Modeling software. Soft robots have demonstrated increased suitability for applications involving human interaction, such as in production lines and surgical procedures.