{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,28]],"date-time":"2026-08-28T14:54:10Z","timestamp":1787928850773,"version":"build-2784847793"},"reference-count":46,"publisher":"Wiley","issue":"9","license":[{"start":{"date-parts":[[2022,5,26]],"date-time":"2022-05-26T00:00:00Z","timestamp":1653523200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["11972318"],"award-info":[{"award-number":["11972318"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012131","name":"Department of Science and Technology of Liaoning Province","doi-asserted-by":"publisher","award":["2020-KF-22-09"],"award-info":[{"award-number":["2020-KF-22-09"]}],"id":[{"id":"10.13039\/501100012131","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2022,9]]},"abstract":"<jats:sec><jats:label\/><jats:p>To allow a linear one\u2010way shape\u2010memory alloy (SMA) wire to have a deterministic curvilinear two\u2010way actuation, the SMA wire can be bonded on a curved substrate or prestrained soft materials to create mismatched SMA\u2010wire composites. These composites have recently been applied to soft robots to achieve rapid periodic untethered locomotion. Herein, by knitting bare SMA wires on scattered holes, it is shown that the substrate\u2010free knitted SMA wires can periodically ride robots forward, where a deterministic spatial curvilinear actuation can be achieved in which its in\u2010between heated configuration and the final stable pattern is sensitive to the prescribed hole constraints. By arranging \u201cknitting\u2010constraints,\u201d the 3D\u2010printed and origami robots with a pair of SMA wires, respectively, are ridden. The SMA wires have an angle parameter with a variation range of 30\u00b0 for the 3D\u2010printed robot and that of 8\u00b0 for the origami robot, where the angle parameter is defined to indicate the performance of the knitted SMAs. Both the robots can displace up to 5\u2009mm in one motion cycle with an average speed of 20 and 15\u2009mm\u2009min<jats:sup>\u22121<\/jats:sup>, respectively. The motion efficiencies of the two robots are close to 1 when taking the possible backward movement in one forward\u2010moving cycle into consideration.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200035","type":"journal-article","created":{"date-parts":[[2022,5,26]],"date-time":"2022-05-26T06:13:04Z","timestamp":1653545584000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Knitting Shape\u2010Memory Alloy Wires for Riding a Robot: Constraint Matters for the Curvilinear Actuation"],"prefix":"10.1002","volume":"4","author":[{"given":"Tian-Yue","family":"Wu","sequence":"first","affiliation":[{"name":"Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Institute of Applied Mechanics School of Aeronautics and Astronautics Zhejiang University  Hangzhou 310027 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qian-Yi","family":"Fang","sequence":"additional","affiliation":[{"name":"Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Institute of Applied Mechanics School of Aeronautics and Astronautics Zhejiang University  Hangzhou 310027 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhu-Long","family":"Xu","sequence":"additional","affiliation":[{"name":"Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Institute of Applied Mechanics School of Aeronautics and Astronautics Zhejiang University  Hangzhou 310027 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xin-Jin","family":"Li","sequence":"additional","affiliation":[{"name":"Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Institute of Applied Mechanics School of Aeronautics and Astronautics Zhejiang University  Hangzhou 310027 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wen-Xuan","family":"Ma","sequence":"additional","affiliation":[{"name":"Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Institute of Applied Mechanics School of Aeronautics and Astronautics Zhejiang University  Hangzhou 310027 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ming-Shuai","family":"Chu","sequence":"additional","affiliation":[{"name":"Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Institute of Applied Mechanics School of Aeronautics and Astronautics Zhejiang University  Hangzhou 310027 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jae Hyuk","family":"Lim","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Chonbuk National University  Jeonju-si Jeollabuk-Do 54896 Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6772-7587","authenticated-orcid":false,"given":"Kuo-Chih","family":"Chuang","sequence":"additional","affiliation":[{"name":"Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Institute of Applied Mechanics School of Aeronautics and Astronautics Zhejiang University  Hangzhou 310027 China"},{"name":"State Key Laboratory for Strength and Vibration of Mechanical Structures School of Aerospace Engineering Xi'an Jiaotong University  Xi'an 710049 China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2022,5,26]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aao4369"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1002\/admt.201900653"},{"key":"e_1_2_9_4_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aay3493"},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.1002\/advs.201901371"},{"key":"e_1_2_9_6_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2019.0094"},{"key":"e_1_2_9_7_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201908842"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201701814"},{"key":"e_1_2_9_9_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201706547"},{"key":"e_1_2_9_10_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201505123"},{"key":"e_1_2_9_11_1","doi-asserted-by":"publisher","DOI":"10.1002\/adom.201600503"},{"key":"e_1_2_9_12_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/8\/2\/026003"},{"key":"e_1_2_9_13_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aax1594"},{"key":"e_1_2_9_14_1","author":"TolleyMichael T.","year":"2014","journal-title":"Soft Robot."},{"key":"e_1_2_9_15_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0088"},{"key":"e_1_2_9_16_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-020-03153-z"},{"key":"e_1_2_9_17_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaz0492"},{"key":"e_1_2_9_18_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-018-08173-y"},{"key":"e_1_2_9_19_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201901908"},{"key":"e_1_2_9_20_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aax7112"},{"key":"e_1_2_9_21_1","doi-asserted-by":"publisher","DOI":"10.1002\/admt.201900185"},{"key":"e_1_2_9_22_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202104770"},{"key":"e_1_2_9_23_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc3721"},{"key":"e_1_2_9_24_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aay2627"},{"key":"e_1_2_9_25_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1713450114"},{"key":"e_1_2_9_26_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2016.0071"},{"key":"e_1_2_9_27_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.aan8354"},{"key":"e_1_2_9_28_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aat1893"},{"key":"e_1_2_9_29_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau7557"},{"key":"e_1_2_9_30_1","unstructured":"J.\u2010S.Koh K.\u2010J.Cho inProc.IEEE Int. Conf. Robotics and Biomimetics IEEE Piscataway NJ2009."},{"key":"e_1_2_9_31_1","unstructured":"J.\u2010S.Koh K.\u2010J.Cho inProc.IEEE Int. Conf. Robotics and Automation IEEE Piscataway NJ2010."},{"key":"e_1_2_9_32_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/abcc0a"},{"key":"e_1_2_9_33_1","doi-asserted-by":"publisher","DOI":"10.1177\/1045389X20942319"},{"key":"e_1_2_9_34_1","doi-asserted-by":"publisher","DOI":"10.1177\/1045389X19844008"},{"key":"e_1_2_9_35_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijfatigue.2018.03.016"},{"key":"e_1_2_9_36_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aba0015"},{"key":"e_1_2_9_37_1","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.075614"},{"key":"e_1_2_9_38_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1509465112"},{"key":"e_1_2_9_39_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1217998110"},{"key":"e_1_2_9_40_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2679199"},{"key":"e_1_2_9_41_1","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/18\/9\/095013"},{"key":"e_1_2_9_42_1","first-page":"425","volume":"8","author":"Luji F. F. J.","year":"2021","journal-title":"Trans. Sci. Technol."},{"key":"e_1_2_9_43_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/6\/4\/046002"},{"key":"e_1_2_9_44_1","doi-asserted-by":"publisher","DOI":"10.7234\/composres.2015.28.2.052"},{"key":"e_1_2_9_45_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2211033"},{"key":"e_1_2_9_46_1","unstructured":"Y. P.Lee B.Kim M. G.Lee J.\u2010O.Park inProc.IEEE Inter. Conf. on Robotics and Automation 2004 IEEE Piscataway NJ2004"},{"key":"e_1_2_9_47_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3015457"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202200035","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/aisy.202200035","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202200035","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T19:17:17Z","timestamp":1759864637000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.202200035"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5,26]]},"references-count":46,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2022,9]]}},"alternative-id":["10.1002\/aisy.202200035"],"URL":"https:\/\/doi.org\/10.1002\/aisy.202200035","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"value":"2640-4567","type":"print"},{"value":"2640-4567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,5,26]]},"assertion":[{"value":"2022-03-17","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-05-26","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"2200035"}}