Design of morphing patterns in knitted SMA textile actuators via knitting codes

Shape memory alloys (SMAs) are widely used as soft actuators due to their shape memory effect, variable stiffness, and simple actuation via Joule heating. To achieve larger and more diverse deformations, SMA wires can be integrated as fibers into textile structures, enabling the fabrication of textile actuators using conventional textile manufacturing methods. These actuators provide high compliance and ergonomic conformability, making them more human-friendly than other types of soft actuators. Nevertheless, few studies have examined their modal behavior, limiting the application of SMA-based textile actuators. This study focuses on knitted SMA-based textile actuators and investigates nine morphing patterns-six plane-based and three band-based-designed with knitting codes. The actuators exhibited deformations that matched the predicted shapes. In addition, the plane-based patterns were analyzed to examine the relationship between loop transition boundaries and deformation axes in controlling bending angles. Demonstrations of knitted morphing flowers highlighted the scalability of the designs. Furthermore, quantitative evaluation of actuation forces in horizontal and vertical directions confirmed that actuator performance can be tuned through structural design.