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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. 4.

Fig. 4

Mechanical design of the SMA-based torsion actuator including (1) base disk, (2) sheath, (3) torsion disk, (4) top disk, (5) output disk, (6) SMA A, (7) SMA B, (8) supporting rods, and (9) shaft (bolt, thread size: 4–40). All disks and sheaths are made of VeroWhite using an Objet 350V 3D printer.