This paper presents a unique and innovative approach for Soft-Robotics that introduces the “One-to-Many” design concept. This concept allows a single artificial actuator to store energy in the form of potential energy and drive multiple degrees of freedom. Utilized in an ExoMusculature, this approach has many advantages over existing technologies for assistive and augmentative applications. The basic elements have been designed and prototyped along with physical simulations. A biologically inspired control system has been developed and the results of the simulation were compared with the results of a human arm neuro-motor control experiment. Performance improves dramatically with increased numbers of artificial muscle motor units.

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