Synthetic Myofascial Actuation System (SMAS) A Hybrid Distributed‑Tension Architecture for Compliant, Biomimetic Robotics

The Synthetic Myofascial Actuation System (SMAS) is a hybrid actuation architecture inspired by biological muscle–tendon–fascia networks. SMAS integrates four traditionally separate paradigms—Series Elastic Actuation (SEA), Parallel Elastic Actuation (PEA), Direct Cable Actuation (DCA), and Distributed Tension Actuation (DTA)—into a single continuous‑tension system capable of producing compliant, multi‑joint, emergent motion. A primary muscle line routes across multiple joints, tendon‑like linkages provide targeted force transfer, and strategically placed elastic elements store and release energy. Together, these components create coordinated behavior that arises from the mechanical structure rather than explicit joint‑level control. This concept paper establishes the foundational architecture, routing logic, and biomimetic principles underlying SMAS, providing a citable reference point for ongoing development and future prototypes.