Aiming at the deformation and contact force of fiber reinforced soft actuators, the relationship between the number of winded coils as well as their pitch and the actuator’〖KG-*2〗s bending were analyzed, and a nonlinear mathematical model of driving pressure and driver bending angle and the theoretical model of its contact force were proposed, the above two models were verified through finite element analysis and experiments. The results show that the fiber-reinforced structure can significantly improve the bending behavior and the contact force of soft actuators.