A peristaltic pump actuator includes a rotor element supporting rollers, the rotor element being configured to rotate about a rotor axis and the rollers each being configured to rotate about a roller axis that is parallel to the rotor axis. The rotor element and each of the rollers is constrained such that the rotor element and rollers are able to rotate only about their respective axes. A shoe having a displacement axis perpendicular to the rotor axis is forced against the rollers by an urging element without rotation in any axis. A tube may be placed between the shoe and the rollers.