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Herein, a bilayer bending cantilever, made of thermoplastic polyurethane (TPU) with embedded [Fe(NH<jats:sub>2<\/jats:sub>trz)<jats:sub>3<\/jats:sub>](SO<jats:sub>4<\/jats:sub>) SCO particles (25\u2009wt%), is presented. The proposed actuator is fabricated by blade casting an SCO@TPU layer on a conducting Ag@TPU film to convert electrothermal input into mechanical response. Experiments are conducted to characterize the curvature of bilayer beams, which is then further analyzed using the Euler\u2013Bernoulli beam theory. The beam curvature change, free transformation strain, and effective work density associated with the SCO are 0.11\u2009mm<jats:sup>\u22121<\/jats:sup>, 1.6%, and 1.25\u2009mJ\u2009cm<jats:sup>\u22123<\/jats:sup>, respectively. Further, the open\u2010 and closed\u2010loop response of the actuator is investigated using a custom\u2010built setup. The open\u2010loop identification suggests that the actuator gain increases monotonously when the control current increases. This natural adaptive character can explain the drastically diminished response time in closed\u2010loop proportional\u2013integral\u2013derivative control experiments (2\u20133\u2009s). Finally, tracking experiments are carried out to evaluate the robustness of the actuator with and without payloads. The results for 30\u2009240 endurance cycles reveal a mean positioning error of 0.8%.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200432","type":"journal-article","created":{"date-parts":[[2023,2,19]],"date-time":"2023-02-19T22:41:59Z","timestamp":1676846519000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":27,"title":["Soft Actuators Based on Spin\u2010Crossover Particles Embedded in Thermoplastic Polyurethane"],"prefix":"10.1002","volume":"5","author":[{"given":"Yue","family":"Zan","sequence":"first","affiliation":[{"name":"LCC CNRS &amp; Universit\u00e9 de Toulouse (UPS, INP)  31077 Toulouse France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mario","family":"Piedrahita-Bello","sequence":"additional","affiliation":[{"name":"LCC CNRS &amp; Universit\u00e9 de Toulouse (UPS, INP)  31077 Toulouse France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Seyed E.","family":"Alavi","sequence":"additional","affiliation":[{"name":"LCC CNRS &amp; Universit\u00e9 de Toulouse (UPS, INP)  31077 Toulouse France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"G\u00e1bor","family":"Moln\u00e1r","sequence":"additional","affiliation":[{"name":"LCC CNRS &amp; Universit\u00e9 de Toulouse (UPS, INP)  31077 Toulouse France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bertrand","family":"Tondu","sequence":"additional","affiliation":[{"name":"LAAS CNRS &amp; Universit\u00e9 de Toulouse (UPS, INSA)  31400 Toulouse France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8064-8960","authenticated-orcid":false,"given":"Lionel","family":"Salmon","sequence":"additional","affiliation":[{"name":"LCC CNRS &amp; Universit\u00e9 de Toulouse (UPS, INP)  31077 Toulouse France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Azzedine","family":"Bousseksou","sequence":"additional","affiliation":[{"name":"LCC CNRS &amp; Universit\u00e9 de Toulouse (UPS, INP)  31077 Toulouse France"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2023,2,19]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1002\/anie.201800907"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.1146351"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1557\/adv.2018.159"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.tibtech.2013.03.002"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201603483"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.201900077"},{"key":"e_1_2_8_9_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202000128"},{"key":"e_1_2_8_10_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202100061"},{"key":"e_1_2_8_11_1","doi-asserted-by":"publisher","DOI":"10.3390\/mi13010028"},{"key":"e_1_2_8_12_1","doi-asserted-by":"publisher","DOI":"10.1007\/s43154-021-00054-5"},{"key":"e_1_2_8_13_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41578-021-00389-7"},{"key":"e_1_2_8_14_1","doi-asserted-by":"publisher","DOI":"10.1186\/s10033-022-00707-2"},{"key":"e_1_2_8_15_1","doi-asserted-by":"publisher","DOI":"10.3390\/textiles1020015"},{"key":"e_1_2_8_16_1","doi-asserted-by":"publisher","DOI":"10.1021\/acs.chemrev.1c00453"},{"key":"e_1_2_8_17_1","doi-asserted-by":"publisher","DOI":"10.1201\/9781584887140"},{"key":"e_1_2_8_18_1","doi-asserted-by":"publisher","DOI":"10.1039\/C9NA00038K"},{"key":"e_1_2_8_19_1","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/22\/10\/104022"},{"key":"e_1_2_8_20_1","first-page":"320","volume":"38","author":"Wang W.","year":"2016","journal-title":"Coord. 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