Methods and a device for the continuous manufacturing of artificial muscle actuator device fibers are disclosed. The method includes: threading an untwisted fiber along the axis of a tube and inside the tube that includes a heating means to raise the localized temperature of a cross-section of the tube to a predetermined temperature； providing a tension on the untwisted fiber； and twisting the untwisted fiber while the fiber is within the tube.本發明揭露用於連續製造人工肌肉致動器裝置纖維之方法及裝置。該方法包括以下步驟：沿著一管之軸且在該管內穿過一未加撚纖維，該管包括一加熱裝置以使該管之一橫截面的局部溫度上升至一預定溫度；在該未加撚纖維上提供一張力；及當該纖維在該管內時加撚該未加撚纖維。
