The aim of this research was to develop a bio artificial muscle system which reacts to glucose. The artificial muscle actuates by biomimicking the antigen-antibody reaction using a glucose sensitive material, boronic acid. To fabricate a glucose sensitive artificial muscle, boronic acid was introduced into hydrogels and used as a guest material for the artificial muscles. By exploiting the swelling/deswelling of the hydrogel that originates from the internal anionic charge changes resulting from the boronic acid binding to glucose, yarn type artificial muscles are obtained that provides reversible torsional actuation that can be used for glucose sensing. These artificial muscles actuate depending on glucose concentration in physiological buffer without using any additional auxiliary substances or an electrical power source. A carbon multiwalled nanotube yarn and boronic acid conjugated nanogel based artificial muscle shows short response time and high sensitivity (in the 5-100 mM range), and another method demonstrating improved performance and efficiency by changing the materials along with the process was devised for a more practical approach. The results demonstrate possibilities of implantable glucose sensors that automatically release drugs when needed or as an artificial pancreas.