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By introducing previously unknown approaches to the geometric design of unit cells within lattice structures\u2014based on continuous blending and superposition of existing lattice geometries\u2014we can precisely tune stiffness and anisotropy. These designs enable the creation of three-dimensional structures with spatially varying mechanical properties, ranging from tissue-like compliance to rigid, bone-like load-bearing capabilities. Using these methods, we fabricated a musculoskeletal-inspired tendon-driven robotic elephant that integrates joints with programmable bending profiles, achieving a continuously soft trunk. Our lattice geometry generation techniques allow for over 1 million discrete configurations and infinite geometric variations, offering a scalable solution for designing lightweight, adaptable robots.<\/jats:p>","DOI":"10.1126\/sciadv.adu9856","type":"journal-article","created":{"date-parts":[[2025,7,16]],"date-time":"2025-07-16T18:00:36Z","timestamp":1752688836000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":35,"title":["Lattice structure musculoskeletal robots: Harnessing programmable geometric topology and anisotropy"],"prefix":"10.1126","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5438-9232","authenticated-orcid":true,"given":"Qinghua","family":"Guan","sequence":"first","affiliation":[{"name":"CREATE Lab, Institute of Mechanical Engineering, School of Engineering, EPFL, Lausanne 1015, Switzerland."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1626-0128","authenticated-orcid":true,"given":"Benhui","family":"Dai","sequence":"additional","affiliation":[{"name":"CREATE Lab, Institute of Mechanical Engineering, School of Engineering, EPFL, Lausanne 1015, Switzerland."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hung Hon","family":"Cheng","sequence":"additional","affiliation":[{"name":"CREATE Lab, Institute of Mechanical Engineering, School of Engineering, EPFL, Lausanne 1015, Switzerland."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8410-3565","authenticated-orcid":true,"given":"Josie","family":"Hughes","sequence":"additional","affiliation":[{"name":"CREATE Lab, Institute of Mechanical Engineering, School of Engineering, EPFL, Lausanne 1015, Switzerland."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abd7457"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(91)90373-U"},{"key":"e_1_3_2_4_2","doi-asserted-by":"crossref","unstructured":"M. \u00dcnal O. 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