  Conformable robotic systems are attractive for applications in which they can
be used to actuate structures with large surface areas, to provide forces
through wearable garments, or to realize autonomous robotic systems. We present
a new family of soft actuators that we refer to as Fluidic Fabric Muscle Sheets
(FFMS). They are composite fabric structures that integrate fluidic
transmissions based on arrays of elastic tubes. These sheet-like actuators can
strain, squeeze, bend, and conform to hard or soft objects of arbitrary shapes
or sizes, including the human body. We show how to design and fabricate FFMS
actuators via facile apparel engineering methods, including computerized sewing
techniques. Together, these determine the distributions of stresses and strains
that can be generated by the FFMS. We present a simple mathematical model that
proves effective for predicting their performance. FFMS can operate at
frequencies of 5 Hertz or more, achieve engineering strains exceeding 100%, and
exert forces greater than 115 times their own weight. They can be safely used
in intimate contact with the human body even when delivering stresses exceeding
10$^\text{6}$ Pascals. We demonstrate their versatility for actuating a variety
of bodies or structures, and in configurations that perform multi-axis
actuation, including bending and shape change. As we also show, FFMS can be
used to exert forces on body tissues for wearable and biomedical applications.
We demonstrate several potential use cases, including a miniature steerable
robot, a glove for grasp assistance, garments for applying compression to the
extremities, and devices for actuating small body regions or tissues via
localized skin stretch.
