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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 rotary modular using “antagonistic Linear SMA + pulley” design with a intermediary torsional spring (Guo et al., 2015); (B) A rotary modular using “antagonistic Linear SMA + optimized spring-slack element + pulley” design with compact arrangement of linear SMA (Lan et al., 2009); (C) A BRM actuator consists of four SMA wires embedded in a soft matrix. The actuator is capable of performing banding and twisting motion in opposite directions (Rodrigue et al., 2015b).