Soft robotics is a growing field of interest, with solid-state joints being a key functional element. To create these joints on a textile basis, shape memory alloy (SMA) wires can be integrated into fiber-reinforced composites. For optimal performance, the actuator needs two zones: a force introduction area and a segment with high flexibility. In the case of SMA wires, the interlocking with the composite is crucial. Knitting technology offer promising approaches for functional mechanical interlocking points. Flat knitting provides the possibility to integrally manufacture a semi-finished product with a SMA based actuator and an energy supply. The development of a novel platting technique is necessary to produce the structures. The knitted sample features graded stiffness properties to accommodate the different needs of the different segments. The electrical contact between SMA and energy supply is optimized using different coatings. The textile is consolidated using with an epoxy resin and an elastomer. The process is realized in an adapted vacuum resin infusion procedure where the transition between the zones is compressed to prevent the components mixing up. Additionally, heat is applied to speed up the curing process. Finally, the ready-made composite is thoroughly evaluated. The load bearing capabilities of the knitted integration of the actuator is tested. The electrical contact resistance between SMA and energy supply is tested using the four-probe method. The deformation is evaluated using a laser triangulator and showed deflections of more than 80 mm. It also features multiple solid-state joints that can be activated individually.