Previous research has explored the use of Pneumatic Artificial Muscles mounted externally on the robot’s body, which, when contracting, induce directional bending. However, this method only offers limited bending performance. To enhance manoeuvrability, Pneumatic Artificial Muscles embedded in-between the walls of double-walled eversion robots have also been considered, and shown to offer superior bending performance and force output as compared to externally attached muscle. However, their adoption has been hindered by the complexity of current manufacturing techniques which require individually sealing the artificial muscles.

To overcome multi-stage fabrication approach in which muscles are embedded one by one, we propose a novel single-step method.  The key to our approach is the use of non-heat-sealable inserts to form air channels during the sealing process. This significantly simplifies the  process, reducing production time and effort, and improving scalability for manufacturing, potentially enabling mass production. We evaluate the fabrication speed and bending performance of robots produced in this manner, and benchmark them against those described in the literature. The results demonstrate that our technique offers high bending performance and significantly improves manufacturing efficiency.