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Abstract
Soft robots made of soft and flexible materials have been growing in popularity in research. Various actuation methods have been explored including pneumatic, shape memory alloy, and magnetic actuation. Shape memory alloys (SMA) have been used as actuating materials due to their beneficial characteristics, including its high force/weight ratio, lightweight nature, and noiseless operation compared with other actuation methods. However, SMA has slow actuation speeds and miniaturized SMA actuators make it challenging for the soft robot to carry and push payloads. To address these issues, a soft robotic crawler with a singular, continuous piece of SMA wire and a central strain inducing beam is proposed. By utilizing a central strain beam, the SMA can return to its unactuated, resting position faster than on its own allowing for faster actuation cycles and enough strength to push and carry objects.