A hydraulic muscle comprises a hollow carbon nanotube (CNT) yarn tube comprising: a plurality of CNT sheets twisted and wrapped in form of a hollow tube; and a binding agent infiltrated in the plurality of CNT sheets that binds the plurality of the CNT sheets together. A method of manufacturing a hydraulic muscle comprises: twisting and wrapping a plurality of carbon nanotube (CNT) sheets around a core fiber; infiltrating a binding agent in between the plurality of CNT sheets, wherein the binding agent binds the plurality of the CNT sheets together; and removing the core fiber from the plurality of CNT sheets.