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However, the lack of stable proprioception and integrated structural design limits their real\u2010world applications. In this article, we propose a lightweight, modular shape memory alloy (SMA) driven SRA, integrated with a multi\u2010Hall\u2010magnet sensing system for accurate shape proprioception, while remaining untethered. Each segment is approximately 35\u2009g in weight, allowing for easy assembly in series and seamless integration into complex systems. An omnidirectional shape proprioception method with self\u2010correction is presented, and it maintains high perception accuracy even under pronounced nonconstant\u2010curvature deformations. The results demonstrate a mean tip position error of approximately 1.39\u2009mm in a single segment and a mean shape error of approximately 0.81% in the multisegment SRA. Experiments, including unstructured environment detection, pipeline navigation, and outdoor cooperation with a quadrotor drone, validate the robust performance of the sensing and actuation systems in real\u2010world conditions. The results demonstrate that the precise shape perception and modular integration enable SRAs to achieve strong application performance, further facilitating the practical deployment in real\u2010world scenarios.<\/jats:p>","DOI":"10.1002\/aisy.70464","type":"journal-article","created":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T08:55:53Z","timestamp":1782896153000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Omnidirectional Shape Proprioception for Untethered Shape Memory Alloy\u2010Driven Soft Robotic Arms"],"prefix":"10.1002","volume":"8","author":[{"given":"Yiming","family":"Ouyang","sequence":"first","affiliation":[{"name":"Institute of Humanoid Robots Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China  Hefei China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zelin","family":"Chen","sequence":"additional","affiliation":[{"name":"Institute of Humanoid Robots Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China  Hefei China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"He","family":"Chen","sequence":"additional","affiliation":[{"name":"Institute of Humanoid Robots Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China  Hefei China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Min","family":"Xu","sequence":"additional","affiliation":[{"name":"Institute of Humanoid Robots Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China  Hefei China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hao","family":"Yang","sequence":"additional","affiliation":[{"name":"Institute of Humanoid Robots Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China  Hefei China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7806-896X","authenticated-orcid":false,"given":"Wei","family":"Gao","sequence":"additional","affiliation":[{"name":"Institute of Humanoid Robots Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China  Hefei China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-8790-1475","authenticated-orcid":false,"given":"Hu","family":"Jin","sequence":"additional","affiliation":[{"name":"Institute of Humanoid Robots Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China  Hefei China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shiwu","family":"Zhang","sequence":"additional","affiliation":[{"name":"Institute of Humanoid Robots Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China  Hefei China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,6,30]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1038\/s42254-022-00481-z"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1088\/1757-899X\/1261\/1\/012002"},{"key":"e_1_2_9_4_1","doi-asserted-by":"publisher","DOI":"10.3390\/biomimetics9040248"},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.ads0200"},{"key":"e_1_2_9_6_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-024-47639-0"},{"key":"e_1_2_9_7_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41928-018-0024-1"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-023-42882-3"},{"key":"e_1_2_9_9_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adh7852"},{"key":"e_1_2_9_10_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920917203"},{"key":"e_1_2_9_11_1","unstructured":"W.McMahan V.Chitrakaran M.Csencsits et al. 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