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. Author manuscript; available in PMC: 2019 Jan 1.
Published in final edited form as: IEEE Robot Autom Lett. 2017 Nov 15;3(1):537–543. doi: 10.1109/LRA.2017.2773671

Fig. 1.

Fig. 1

(a) 3-D model of a fiberoptic rotation sensor to be mounted on the shaft of an SMA torsion actuator. (b) Design of a fiberoptic rotation sensor including optical fibers, a rotary head, a bearing, and a shaft. (c) Two designs of the rotary head with different reflecting surface profiles.