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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. 2.

Fig. 2

(a) Prototype of an SMA rotary actuator integrated with a fiberoptic rotation sensor. (b) Prototype of a rotary head type I made of aluminum with a polished top surface. (c) Prototype of a rotary head type II made of brass with a polished spiral path.