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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. 7.

Fig. 7.

Comparison between Joule heating actuation and conductive heating actuation: (a) experimental setup to measure the block force of the SMA wire, (b) block force of the SMA wire under Joule heating actuation, and (c) block force of the SMA wire under conductive heating actuation.