Fig. 3: Mechanical behavior analysis between the breathable chamber and the skin, and the corresponding actuator design.

a FEA analysis results of the stress distribution in the breathable chamber under a vertical load. b Graph of skin displacement and chamber deformation according to chamber displacement. c Image of the actuator combining a bistable beam, SMA wire, chamber, and frame. d Side view, and e top view of the actuator in its initial state before being fit into the frame. Upper and lower SMA wires are mounted on both sides of the beam. f Energy-displacement curve of the bistable beam, showing the two stable minimum energy state (①and ②) and an intermediate unstable state (snap-through). g Schematic of the side view of the actuating part demonstrating the actuation and sensing mechanism. h Images showing the difference in smoke ventilation when the breathable chamber is open versus closed. i Actuation stroke of the bistable beam for the length difference between the frame and the bistable beam. j The degree of skin deformation with and without the ring in the frame. k Stress profile as a function of distance based on the characteristics of the SMA wire (n = 4). n represents the number of technical independent replicates. Data were expressed as mean ± SD. l Changes in contact force during cyclic testing of the bistable actuator and SMA operation. m Average contact force of the bistable beam over cycles.