This work presents a conceptual framework for the design, development, and construction of artificial muscles as an actuator mechanism in bio-inspired systems. This framework is supported by current theories of soft robotics and the analysis of smart materials performance. Specifically, shape memory alloy materials (SMA) mathematical behavior is reviewed. Current Literature about these topics points to the experimentation as the main source for collecting the data and information of materials, that is required for the design of artificial muscles. The behavior of the materials can vary drastically when modifying simple variables in the workspace and the way of varying levels of temperature also influences its handling.