Abstract Muscle cells can not only be used for pathological research and drug detection, but also can be combined with soft robots to form biological hybrid robots. Mature muscle tissue had advantages such as good elasticity, self-repair, and multi-signal perception. Although there are many methods for 3D muscle tissue culture, muscle tissue is difficult to be used due to the insufficient material properties and long culture period. In this study, we exploited the excellent physicochemical properties of hydrogel materials to develop a new novel interpenetrating hydrogel network structure as a culture framework, and 3D cell culture and tissue induction culture were combined to culture 3D muscle tissue in hydrogel environment and induce differentiation into muscle tissue. The results successfully induce cell proliferation, differentiation and myotube formation in vitro, provide a new idea for the rapid cultivation of muscle tissue in vitro and provide a basis for the assembly of soft robots in the future.