Abstract
An actuator (12) includes a moving member (18) pivotally connected to a base unit (14) for rotation about an axis. The driving force for rotation of the moving member (18) relative to the base unit (14) is provided by a pair of antagonistically operating shape memory alloy (SMA) wires (48, 50) and transmitted via a torsional spring (56). An endoscope, or a snake-like robot (66), may include one or more of the actuators (12).
| Original language | English |
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| Patent number | PCT/GB2015/051191 |
| Priority date | 9/04/14 |
| Publication status | Published - 2015 |