Abstract²this Paper Presents a Novel Compliant Differential (cd) Shape Memory Alloy (sma) Actuator with Improved


performance compared to traditional SMA actuators. This actuator is composed of two antagonistic SMA wires and a mechanical joint coupled with a torsion spring. The torsion spring is employed to reduce the total stiffness of SMA actuator and improve the range of motion. The antagonistic wires increase the response time as one wire can be heated up while the… (More)

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