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. Author manuscript; available in PMC: 2018 Feb 1.
Published in final edited form as: IEEE Trans Robot. 2016 Dec 1;33(1):240–248. doi: 10.1109/TRO.2016.2623348

Fig. 2.

Fig. 2

Working principle of the SMA-based torsion actuator: (a) SMA A and SMA B are pre-tightened by one turn (initial configuration), (b) SMA A is in the recovered configuration (heated) and SMA B is unheated, and (c) SMA A is unheated and SMA B is in the recovered configuration (heated). The red arrows indicate the motion direction of the torsion disk.