A body surface compression device for generating cyclical or constant compressions for medical purposes. Compression is accomplished using pneumatic actuated artificial muscle in combination with a belt placed around a body part. Both artificial muscle shortening and pneumatic expansion are used for compression. A unique useful property of this system is the length-tension characteristic similar to natural muscle which reduces applied compressive force proportionally with the level of volume compression of the body part. This property as well as a uniformly applied compression over the body part allows compression to be accomplished in a way which resembles natural muscle activation and minimizes overall abnormal stress on the body part.