Fig. 7
From: A deflectable video camera system for laparoscopic surgery based on shape memory alloy actuators
The maximum values of the performance parameters show an asymptotic increase in device temperature and required actuator force, as well as an initial increase in achievable deflection, followed by a decrease in deflection to a stable system behaviour starting at approx. 2300 s (i.e., 230 activation cycles): (a) Graph of shaft surface temperature. (b) Graph of maximum deflection. (c) Graph of tensile forces of the antagonistic wire pair.
