Fig. 10
From: A deflectable video camera system for laparoscopic surgery based on shape memory alloy actuators
The averaged responses of joint deflection to different cycle durations of the input current for each actuator wire shows expected characteristics: (1) Frequency-dependent maximum deflection; (2) Jumps in deflection; (3) Residual deflection or hysteretic errors at deactivated currents; (4) Typical symmetrical-antagonistic SMA shape. Ten iterations of each period duration also provide an indicator for positioning accuracy.
