An automated weaving system that continuously produces ultra-thin, shape memory alloy coil yarn, thinner than a human hair. This allows large-scale production of lightweight, flexible artificial muscles for next-generation wearable robots. The system uses 25-micrometer-wide shape memory alloy (SMA) wire processed into coil-shaped yarn to create fabric muscles that can lift 10 to 15 kilograms while weighing just 10 grams.