Fish can adaptively adjust their body kinematics and swimming modes by sensing to realize optimal propulsion. However, most soft robotic fish have an unchangeable swimming mode through simple structure design, making them difficult to adapt to dynamic and complex fluid environments. Here, inspired by the multiple muscle synergy and lateral line sensing function of fish, we developed a soft robotic fish with multiple actuating units and embedded sensing elements. By collaboratively controlling the amplitude and phase of excitation from the multiple flexible actuating units, the soft robotic fish can successfully realize various swimming modes very similar to those of natural fish. Additionally, the embedded flexible sensing elements enable the robotic fish to sense the swimming state and the surrounding fluid environment in real time. The multiple actuation and embedded sensing allow the soft robotic fish to adaptively switch to an optimal swimming mode in a certain fluid environment. The multi-mode swimming and perception capabilities proposed in this work not only make soft robotic fish more intelligent and adaptable to complex fluid environments, but also contribute to the future implementation of autonomous control capabilities for robotic fish.

Biosyncretic robots that integrate living materials present unique advantages for advancing robotic research. Compared with traditional robots, biosyncretic robots offer potential benefits such as higher energy efficiency and enhanced biocompatibility. Among various bioactuators, skeletal muscle tissue (SMT) is particularly favored for its scalability, potential to generate high driving forces, and controllable on/off actuation. However, current SMT actuators often face challenges, including a limited driving force and suboptimal practical designs, which may impede the development of biosyncretic robots. To address these limitations, this work proposes a method for fabricating modular SMT actuators. By leveraging biomimetic design and structural optimization, the contractile performance of SMT is significantly improved. The actuators achieved a maximum contractile force of 2.92 ± 0.07 mN, demonstrated approximately 28% contractile strain under unloaded conditions, and notably exhibited responsive single‐twitch contractions to electrical stimulation frequencies up to 10 Hz. This electrical response performance outperforms that of most existing biosyncretic robot studies. In addition, the modular SMT is highly adaptable and can be easily assembled to construct human‐like muscle actuators, including convergent, parallel, and bipennate muscles. By integrating rigid‐flexible coupled nonliving structures, various SMT‐driven biosyncretic robots, such as caterpillar, dolphin, and manta ray robots, have been successfully developed. This research presents an innovative approach to constructing large, high‐performance, multifunctional skeletal muscle actuators and design of robots, contributing significantly to advancements in both biosyncretic robots (or biohybrid robots) and tissue engineering.

Biosyncretic robots hold great promise for intelligent actuation but face challenges, including low output force of artificial muscle tissues, poor mobility, and restricted movement scenarios. To address these issues, we develop a wireless light‐controlled biosyncretic manta ray driven by Rana catesbeiana gracilis muscles. Under the optimal electrical stimulation conditions (1 Hz, 5 V, 10 ms), the muscle exhibited outstanding contractile performance (contractile force: 6.5 N; strain: 0.25). The robot integrates a gallium arsenide solar cell module that converts a near‐infrared laser into electrical energy. The generated electrical signals are delivered to the nerves on the muscle surface, thereby stimulating muscle contraction and driving the pectoral fin flapping. Performance tests demonstrate that the robot achieves a high swimming velocity (average linear velocity of 0.54 body length s ⁻¹ ), excellent maneuverability and agility (minimum turning radius of 0.8 body length), a maximum turning angular velocity of 21°s ⁻¹ , and environmental adaptability in water‐related scenarios (water surface, underwater with load), with limited locomotion on rigid ground. This study validates isolated skeletal muscle as a high‐performance biological actuator, providing a novel paradigm for high‐mobility biosyncretic robots and advancing their practical application.