I remember hearing about and reading about research in the field of artificial muscles as far back as the early 90's. Pretty interesting to see the advances that are being made these days in the area of "soft robotics". For the longest time I kept telling myself that true android like robots were probably not going to be possible in my lifetime, but now I'm not so sure that's the case. Will I see Westworld level technology in my lifetime? Probably not, but one never can tell.
https://www.seas.harvard.edu/news/2016/07/artificial-muscle-for-soft-robotics-low-voltage-high-hopes