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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. 8.

Fig. 8

Experimental setup for the torsion actuator, including (1) SMA B, (2) torsion disk, (3) SMA A, (4) base disk, (5) vision markers, (6) wooden sticks, and (7) test stage [22], [23].