This paper presents the construction of an artificial pneumatic muscle that achieves angular displacement through negative pressure. A 3D model of a muscle was created on which the final construction was based. The artificial pneumatic muscle consisted of one homogeneous material, which in this case is rubber in the form of a bellow. To achieve the angular displacement, the interior of the bellow was shaped using 3D printed components. Pneumatic equipment, and the LabVIEW computer program were used to start and control the muscle. Muscle tests were carried out to give an insight into its performance in real-life conditions. The blocking force exerted by the muscle at different angles was measured using a force sensor, as well as the speed at which the pneumatic muscle performed the movement. The highest force of 123 N was achieved for angular displacement of 0°, which is the initial position of the muscle, at a negative pressure value of -0,8 bar, while with the increase of angular displacement, the force decreased. The angular velocity of muscle movement increases to its maximum value of 130 °/s, which is achieved at an angular displacement of 30°, after which the velocity decreases moderately until the muscle reaches its final position of 135°.