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. Author manuscript; available in PMC: 2019 Oct 1.
Published in final edited form as: IEEE Robot Autom Lett. 2018 Jul 31;3(4):4038–4045. doi: 10.1109/LRA.2018.2861011

Fig. 5.

Fig. 5.

(a) A setup for carrying out the fatigue tests for the SMA bending module. Microscopic photo of the SMA wire with Nichrome coils before actuation (b) and after bi-directional bending of 200 cycles (c).