Amoeba-like molecular robots, whose “casing” consists of lipid vesicles (liposomes), exhibit dynamic deformation and are expected to perform mechanical work on the external environment or move by means of such deformation. To realize such deformation and locomotion, forces must be transmitted to the bilayer membrane through the action of molecular motors and molecular polymerization, thereby inducing deformation of the lipid vesicle. The development of liposome-based molecular robots capable of flexible and dynamic motion requires a thorough understanding of the mechanical properties of liposomes, such as membrane tension, bending rigidity, Young’s modulus, membrane fragility, and the forces necessary for deformation. This chapter introduces representative techniques for evaluating these mechanical properties in liposomes and related systems, such as single cells, including atomic force microscopy, laser trapping, image analysis, micropipette aspiration, and microfluidic methods.