“…Currently, the main actuation methods include traditional forms of pneumatic, hydraulic and electric, as well as intelligent forms of piezoelectric [17,18], dielectric elastomers [19][20][21][22], SMAs [23][24][25][26] and magnetorheological fluids [27,28]. Among them, SMA as the intelligent material with the best memory performance among metal materials is integrated with sensing and actuation [29,30]. In addition, it has high power ratio, low noise, corrosion resistance and other properties, and is favored in the intelligent design of actuators [31].…”