A non-linear actuator for use in non-linear repeatable movement of an object comprising: a non-linear plunger (124', 124") having two ends and a mid-portion with an arcuate shaped exterior surface operably connected to the object to be moved; a fluid inflatable container (140', 140") having a flexible membrane engaging with the plunger (124', 124"), wherein the flexible membrane rolls onto the arcuate shaped exterior surface of the plunger, such that inflating the fluid inflatable container (140', 140") causes a portion of the flexible membrane to unroll from the arcuate shaped exterior surface of the plunger (124', 124") and the inflating also exerts a force upon the plunger (124', 124") causing the object to move in non-linear motion; an opposing fluid container (140', 140"); one or more control valves operably connected to the fluid inflatable container (140', 140"); an electronic pressure sensor connected to the fluid inflatable container (140', 140"); and an electronic location sensor for determining a location of the object; characterised by: electronic actuators for the one or more control valves for pressurizing and de-pressurizing the fluid inflatable container (140' 140"); and a computer, having a processor and a memory, that are configured to control motion of the object by electronically actuating the one or more control valves in response to signals received from the electronic pressure sensor and the electronic location sensor and records output values of the electronic pressure sensor and the electronic location sensor, and positions of the one or more control valves through electromagnetic signals. a non-linear plunger (124', 124") having two ends and a mid-portion with an arcuate shaped exterior surface operably connected to the object to be moved; a fluid inflatable container (140', 140") having a flexible membrane engaging with the plunger (124', 124"), wherein the flexible membrane rolls onto the arcuate shaped exterior surface of the plunger, such that inflating the fluid inflatable container (140', 140") causes a portion of the flexible membrane to unroll from the arcuate shaped exterior surface of the plunger (124', 124") and the inflating also exerts a force upon the plunger (124', 124") causing the object to move in non-linear motion; an opposing fluid container (140', 140"); one or more control valves operably connected to the fluid inflatable container (140', 140"); an electronic pressure sensor connected to the fluid inflatable container (140', 140"); and an electronic location sensor for determining a location of the object; characterised by: electronic actuators for the one or more control valves for pressurizing and de-pressurizing the fluid inflatable container (140' 140"); and a computer, having a processor and a memory, that are configured to control motion of the object by electronically actuating the one or more control valves in response to signals received from the electronic pressure sensor and the electronic location sensor and records output values of the electronic pressure sensor and the electronic location sensor, and positions of the one or more control valves through electromagnetic signals. electronic actuators for the one or more control valves for pressurizing and de-pressurizing the fluid inflatable container (140' 140"); and a computer, having a processor and a memory, that are configured to control motion of the object by electronically actuating the one or more control valves in response to signals received from the electronic pressure sensor and the electronic location sensor and records output values of the electronic pressure sensor and the electronic location sensor, and positions of the one or more control valves through electromagnetic signals.