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Meso-scale SMA-actuated torsion actuator: (a) Prototype. (b) 3D Solidworks model. Primary components include: Base disk (1), SMA torsion spring A (2), Electrically isolating sheath (3), Torsion disk (4), SMA torsion spring B (5), Top disk (6), Float disk (7), Supporting rods (8), and Metallic bolt (9) (thread size: 4–40). All components except for the bolt and springs are made of VeroWhite material on an Objet 350V 3D printer.
