Publication

Contractile Actuators for Edible Robots

Dario Floreano
2026

Abstract

Muscle contraction is the driving mechanism of animal movement. In contrast to biological muscles, current artificial contractile actuators are not made of biodegradable and edible because they require negative pressure or complex fabrication processes. Here we present an edible contractile actuator that can be easily fabricated and operated using positive pressure. We characterize multiple edible materials with varying softness levels and analyze their influence on the actuator's contractile motion and force output. Furthermore, we introduce a novel storage method that enhances both contraction performance and force generation. We validate the function of the proposed actuator within a partially edible linkage structure that mimics a musculoskeletal system.

Official source

https://infoscience.epfl.ch/entities/publication/7fcff6b4-199e-490c-b709-82ec895ee614

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Dario Floreano
2026

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/7fcff6b4-199e-490c-b709-82ec895ee614

About this result

Related concepts (32)

Muscle contraction

Muscle contraction is the activation of tension-generating sites within muscle cells. In physiology, muscle contraction does not necessarily mean muscle shortening because muscle tension can be produced without changes in muscle length, such as when holding something heavy in the same position. The termination of muscle contraction is followed by muscle relaxation, which is a return of the muscle fibers to their low tension-generating state.

Muscle

Muscle is a soft tissue, one of the animal tissues that makes up the three different types of muscle. Muscle tissue gives skeletal muscles the ability to contract. Muscle is formed during embryonic development, in a process known as myogenesis. Muscle tissue contains special contractile proteins called actin and myosin which interact to cause movement. Among many other muscle proteins present are two regulatory proteins, troponin and tropomyosin. Muscle tissue varies with function and location in the body.

Skeletal muscle

Skeletal muscles (commonly referred to as muscles) are organs of the vertebrate muscular system and typically are attached by tendons to bones of a skeleton. The muscle cells of skeletal muscles are much longer than in the other types of muscle tissue, and are often known as muscle fibers. The muscle tissue of a skeletal muscle is striated – having a striped appearance due to the arrangement of the sarcomeres. Skeletal muscles are voluntary muscles under the control of the somatic nervous system.

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Contractile Actuators for Edible Robots

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