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. 2021 Jul 2;8:678486. doi: 10.3389/frobt.2021.678486

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Copyright © 2021 Hu, Rabenorosoa and Ouisse.

This an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Examples of BRM actuator using SMA wire element: (A) A mesoscale SMA actuator for cleaning the contaminated lenses of surgical cameras during minimally invasive robotic surgery (Liu et al., 2019); (B) A rotary servo driven by a coil form SMA wire, the shape “re-set” torque is provided by a torsional spring (Song, 2007); (C) An opening and closing door device capable of a two-way rotary motions using a combination of a SMA and SEA (superelastic alloy). The strip was biased passively by a PE element for position resetting (Tobushi et al., 2013).