High‐Displacement, Fiber‐Reinforced Shape Memory Alloy Soft Actuator with Integrated Sensors and Its Equivalent Network Model

For soft robotics, shape memory alloy (SMA)‐based elastomeric actuators are a promising material combination but their maximum stroke is limited by the small inherent contraction of SMAs. In this work, a textile‐reinforced soft actuator is presented, which has additional SMA wire length included in the textile structure as well as a sensoric textile to track the actuator's pose. This strategy eliminates the need for external SMA wires with extra mechanical components. Various experiments with different excitation voltages are performed to show the actuator's performance. In a horizontal setup, the soft actuator reaches a bending angle of 270° at a power input of 18 W. The integrated sensor reflects the actuator's position but is also influenced by the temperature increase during activation. Moreover, an equivalent circuit model is proposed that includes the actuator, sensor, and mechanical support structure in one model. The model incorporates not only the mechanical but also the thermal and electrical domains. The simulation results are in good agreement with the experimental results. A fiber reinforced shape memory alloy (SMA)‐based soft actuator is developed that can reach large bending angles without the need for external SMA wires. Within the beam, a textile sensor structure is included that is used to track the actuator's position. The SMA, sensor textile, and supporting structure are simulated in one model as an equivalent circuit.