The adaptable, modular structure of muscles, combined with their confluent energy storage allows for numerous architectures found in nature: trunks, tongues, and tentacles to name some more complex ones. To provide an artificial analog to this biological soft muscle, a self-powered, soft hydrostat actuator is presented. As an example of how to use these modules, a worm robot is assembled where the near totality of the body stores electrochemical potential. The robot exhibits an extremely high system energy density (51.3 J g