{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,11,4]],"date-time":"2026-11-04T17:37:09Z","timestamp":1793813829371,"version":"4.6.1"},"reference-count":40,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T00:00:00Z","timestamp":1777507200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"name":"Innovation and Technology Commission of Hong Kong","award":["ITS\/224\/23"],"award-info":[{"award-number":["ITS\/224\/23"]}],"id":[{"id":"https:\/\/ror.org\/04vf9tr09","id-type":"ROR","asserted-by":"crossref"}]},{"name":"Innovation and Technology Commission of Hong Kong","award":["ITS\/225\/23"],"award-info":[{"award-number":["ITS\/225\/23"]}],"id":[{"id":"https:\/\/ror.org\/04vf9tr09","id-type":"ROR","asserted-by":"crossref"}]},{"name":"Innovation and Technology Commission of Hong Kong","award":["ITS\/235\/22"],"award-info":[{"award-number":["ITS\/235\/22"]}],"id":[{"id":"https:\/\/ror.org\/04vf9tr09","id-type":"ROR","asserted-by":"crossref"}]},{"name":"Innovation and Technology Commission of Hong Kong","award":["MHP\/096\/22"],"award-info":[{"award-number":["MHP\/096\/22"]}],"id":[{"id":"https:\/\/ror.org\/04vf9tr09","id-type":"ROR","asserted-by":"crossref"}]},{"name":"Research Grants Council (RGC) of Hong Kong","award":["AoE\/E-407\/24-N"],"award-info":[{"award-number":["AoE\/E-407\/24-N"]}]},{"name":"Research Grants Council (RGC) of Hong Kong","award":["CUHK 14207823"],"award-info":[{"award-number":["CUHK 14207823"]}]},{"name":"Research Grants Council (RGC) of Hong Kong","award":["CUHK 14211425"],"award-info":[{"award-number":["CUHK 14211425"]}]},{"name":"Research Grants Council (RGC) of Hong Kong","award":["CUHK 14217822"],"award-info":[{"award-number":["CUHK 14217822"]}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Soft Robotics"],"published-print":{"date-parts":[[2026,12,1]]},"abstract":"<jats:p>Shape memory alloys (SMAs) are highly suitable for flexible and soft robots due to their lightweight nature, high power density, and miniaturization potential. However, the design of SMA-based continuum bending joints for robotic applications is often restricted by the inherent trade-offs in their mechanical characteristics. In this work, we present an integrated multicomponent framework that encompasses four submodels, including bending angle, load-deflection stiffness, distal twisting angle, and output force for antagonistic SMA wire bending joints. The framework unifies all submodels under a common temperature input set and systematically clarifies their coupled relationships, providing quantitative insight into their trade-offs. A model-based optimal design methodology is then developed for the SMA bending joint, balancing the different mechanical performance metrics to deliver an optimal joint design that satisfies the task requirements. Experiments on the SMA bending joint with optimal design parameters validate the accuracy of various submodels. Two additional nonoptimal prototypes were experimentally evaluated against the optimized design, validating the feasibility of the proposed optimal design methodology. The integrated multicomponent modeling framework and optimal design methodology address the intricate coupling effects inherent in antagonistic SMA wires, minimizing the need for iterative prototyping and facilitating the adoption of SMA wires in flexible and soft robots.<\/jats:p>","DOI":"10.1177\/21695172261445905","type":"journal-article","created":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T15:02:08Z","timestamp":1777561328000},"page":"889-903","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Integrated Multicomponent Modeling and Optimal Design for Antagonistic Shape Memory Alloy Bending Joint"],"prefix":"10.1177","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9873-4138","authenticated-orcid":false,"given":"Jianghua","family":"Chen","sequence":"first","affiliation":[{"name":"Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jibiao","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qingpeng","family":"Ding","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zechao","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shing Shin","family":"Cheng","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong."},{"name":"Shun Hing Institute of Advanced Engineering, Multi-Scale Medical Robotics Center, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2026,4,30]]},"reference":[{"key":"e_1_3_2_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2489500"},{"key":"e_1_3_2_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3061400"},{"key":"e_1_3_2_4_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.1875"},{"key":"e_1_3_2_5_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aax7329"},{"key":"e_1_3_2_6_1","doi-asserted-by":"publisher","DOI":"10.1186\/s10033-022-00707-2"},{"key":"e_1_3_2_7_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0166"},{"key":"e_1_3_2_8_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0123"},{"key":"e_1_3_2_9_1","doi-asserted-by":"crossref","unstructured":"8.Ayvali E Desai JP. Towards a discretely actuated steerable cannula. In: 2012 IEEE International Conference on Robotics and Automation. IEEE; 2012. 1614\u20139.","DOI":"10.1109\/ICRA.2012.6225312"},{"key":"e_1_3_2_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2861011"},{"key":"e_1_3_2_11_1","doi-asserted-by":"crossref","unstructured":"10.Mandolino MA Goergen Y Motzki P et al. Design and characterization of a fully integrated continuum robot actuated by shape memory alloy wires. In: 2022 IEEE 17th International Conference on Advanced Motion Control (AMC). IEEE; 2022. 6\u201311.","DOI":"10.1109\/AMC51637.2022.9729267"},{"key":"e_1_3_2_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3062583"},{"key":"e_1_3_2_13_1","doi-asserted-by":"publisher","DOI":"10.1177\/1045389X11414227"},{"key":"e_1_3_2_14_1","doi-asserted-by":"crossref","unstructured":"13.Ho M Desai JP. Modeling characterization and control of antagonistic SMA springs for use in a neurosurgical robot. In: 2013 IEEE International Conference on Robotics and Automation. IEEE; 2013. 2503\u20138.","DOI":"10.1109\/ICRA.2013.6630918"},{"key":"e_1_3_2_15_1","article-title":"Self-Sensing for proprioception and contact detection in soft robots using shape memory alloy artificial muscles","author":"Jing R","year":"2024","unstructured":"14.Jing R, , Anderson ML, , Garcia JCP, et al. Self-Sensing for proprioception and contact detection in soft robots using shape memory alloy artificial muscles. arXiv Preprint arXiv 2024.","journal-title":"arXiv Preprint arXiv"},{"key":"e_1_3_2_16_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/ac32e7"},{"key":"e_1_3_2_17_1","doi-asserted-by":"publisher","DOI":"10.1177\/1045389X211038702"},{"key":"e_1_3_2_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3147454"},{"key":"e_1_3_2_19_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.engstruct.2021.112421"},{"key":"e_1_3_2_20_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.medengphy.2015.02.013"},{"key":"e_1_3_2_21_1","doi-asserted-by":"publisher","DOI":"10.1177\/1045389X12436738"},{"key":"e_1_3_2_22_1","doi-asserted-by":"publisher","DOI":"10.1002\/adem.202301502"},{"key":"e_1_3_2_23_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4025382"},{"key":"e_1_3_2_24_1","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/23\/2\/025001"},{"key":"e_1_3_2_25_1","doi-asserted-by":"publisher","DOI":"10.1080\/15397734.2019.1665541"},{"key":"e_1_3_2_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2022.3190930"},{"key":"e_1_3_2_27_1","doi-asserted-by":"publisher","DOI":"10.1177\/1045389X9300400213"},{"key":"e_1_3_2_28_1","doi-asserted-by":"crossref","unstructured":"27.Liang C Rogers C. One-dimensional thermomechanical constitutive relations for shape memory materials. Collection of Technical Papers-AIAA. In: ASME\/ASCE\/AHS structures structural dynamics & materials conference 1990.","DOI":"10.2514\/6.1990-1027"},{"key":"e_1_3_2_29_1","doi-asserted-by":"publisher","DOI":"10.1007\/s40830-023-00464-8"},{"key":"e_1_3_2_30_1","doi-asserted-by":"crossref","unstructured":"29.Dagnino G Georgilas I K\u00f6hler P et al. Image-based robotic system for enhanced minimally invasive intra-articular fracture surgeries. In: 2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE; 2016. 696\u2013701.","DOI":"10.1109\/ICRA.2016.7487196"},{"key":"e_1_3_2_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2287975"},{"key":"e_1_3_2_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2945525"},{"key":"e_1_3_2_33_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1365-2869.2008.00647.x"},{"key":"e_1_3_2_34_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.anai.2014.04.006"},{"key":"e_1_3_2_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2750692"},{"key":"e_1_3_2_36_1","doi-asserted-by":"publisher","DOI":"10.1109\/4235.996017"},{"key":"e_1_3_2_37_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-40988-2_15"},{"key":"e_1_3_2_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2016.2576960"},{"key":"e_1_3_2_39_1","doi-asserted-by":"crossref","unstructured":"38.Traeger MF Roppenecker DB Coy J et al. Forces in minimally invasive surgery: Reliable manipulation of gastric mucosa and the sigmoid colon. In: 2014 IEEE international conference on robotics and biomimetics (ROBIO 2014). IEEE; 2014. p. 408\u201312.","DOI":"10.1109\/ROBIO.2014.7090365"},{"key":"e_1_3_2_40_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4038561"},{"key":"e_1_3_2_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2160469"}],"container-title":["Soft Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/21695172261445905","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/21695172261445905","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/21695172261445905","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,11,4]],"date-time":"2026-11-04T17:17:21Z","timestamp":1793812641000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/21695172261445905"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,4,30]]},"references-count":40,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2026,12,1]]}},"alternative-id":["10.1177\/21695172261445905"],"URL":"https:\/\/doi.org\/10.1177\/21695172261445905","relation":{},"ISSN":["2169-5172","2169-5180"],"issn-type":[{"value":"2169-5172","type":"print"},{"value":"2169-5180","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,4,30]]}}}