FIGURE 1.

Example of technology synergistic multifunctionality (A) where a McKibben actuator relies on an external braided net partially made of SMA wires able to sense deformations (inactive wires in blue) or to increase the generated force (active wires in red); example of static multifunctionality (B) where fluid drive lines are arranged: externally leading to bulkiness (top), internally-straight increasing system stiffness (centre), or internally-helicoidal improving integration without impairing deformability (bottom); examples of dynamic multifunctionality depending on their driving conditions, where a Dielectric Actuator can serve as sensor, actuator or energy harvester (C) and a SMA can be used as sensor, variable stiffness mechanism or active actuator (D).