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. Author manuscript; available in PMC: 2015 Oct 26.
Published in final edited form as: IEEE Trans Robot. 2015 Feb;31(1):1–11. doi: 10.1109/TRO.2014.2367351

Fig. 11.

Fig. 11

SMA temperature change with different heating conditions, measured at the SMA wire center, showing that gold coating significantly improves the optical power transfer efficiency, about 80% compared with Joule heating.