Also explained in this instructable, is a more basic version that can control 5 air muscles with a more conventional circuit.
The air muscle controller can be controlled by infrared LEDs using a standard universal remote. In this way, individual muscles or sequences of muscles can be activated.
These air muscles are cast using layers of thin sheets of plastic and wood as molds. A laser cutter would greatly speed up the process and accuracy of creating Oogoo air muscle molds.
Pic 2 shows the finished arm and gripper which is explained in a separate instructable: http://www.instructables.com/id/Soft-Robots-Make-An-Artificial-Muscle-Arm-And-Gri/
Step 1: How It Works
Up to 11 separate air muscles can be activated and a tethered robot thus controlled. Pressure, exhaust, or vacuum can be connected to one or more muscles at a time. This is a low pressure system that operates at about 5 to 9 PSI. This is mainly because the $3 solenoids can only hold a maximum of about 11 PSI.
The air muscles are made of Oogoo, an inexpensive silicone caulk mixture that can be cast or molded into endless flexible objects.