https://www.youtube.com/watch?v=0ZBD2tcKOU4
Instead of one bulky actuator per joint, multifilament artificial muscles pack many thin contractile fibers along a skeletal frame — closer to how biological muscle fascicles are arranged.
Lab humanoids using this approach can coordinate torso, arm and limb motion with compliant, high-density actuation suited to human-like musculoskeletal robots.