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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. 9.

Fig. 9

(a) Experimental setup for evaluating the control performance of the SMA torsion actuator integrated with the fiberoptic rotation sensor. (b) Comparison between the experimental results and stepwise references for the SMA torsion actuator.