“…Although SMAs are manufactured in a variety of shapes, including plates, springs, wires, and ribbons, the most widely used shape is the onedimensional SMA wire, which can be integrated into soft matrices to fabricate actuators that transform one-dimensional deformation of the SMA wires into a broad range of three-dimensional deformations. For instance, Rodrigue et al developed soft actuators comprised of a polydimethylsiloxane (PDMS) matrix embedded with Nitinol (Nickel-Titanium) SMA wires arranged in different configurations to create a variety of bending [2][3][4][5], twisting [6][7][8], and extensional [9] actuators, which have potential applications in soft robotics [10][11][12], aerospace [13,14], and biomedical [15,16] fields.…”