A curved pedal having a pedal reference plane and having a width direction and a length direction may comprise an actuatable region disposed at a top surface of the curved pedal; and at least one curvature profile in the length direction within at least one portion of the actuatable region. Slope at the top surface relative to the pedal reference plane may vary smoothly within the at least one portion of the actuatable region. Radius of curvature of the top surface within the at least one portion of the actuatable region may, for example, be not less than one-half of the length of the actuatable region. The actuatable region may comprise at least one first convexity, at least one first concavity, and/or at least one second convexity. Where present, the at least one first concavity may be disposed centrally in the length direction between the at least one first convexity and the at least one second convexity. The curved pedal may be mounted in a pedal assembly and used to operate a drum or other such percussion instrument, or any of a wide variety of foot-actuated devices.