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. 2022 May 17;9:888261. doi: 10.3389/frobt.2022.888261

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Copyright © 2022 Sabelhaus, Mehta, Wertz and Majidi.

This is 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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Fabrication procedure for our SMA-actuated soft limb with temperature sensing. (A) The limb is cast from bulk silicone using a 3D printed mold, then (B) released to form the main body. (C) SMA wires are inserted and sealed in place with adhesive, leaving additional turns of wire extending out the rear. (D) Heat is applied to the rear of the limb, so that (E) the extra turns of wire fully actuate. (F) Thermocouples are then adhered into the contracted coils with thermally-conductive epoxy, and experience no further mechanical stress during operation. (G) Fabrication in hardware follows this procedure.