A Review of SMA-Based Actuators for Bidirectional Rotational Motion: Application to Origami Robots

Shape memory alloys (SMAs) are a group of metallic capable sustaining large inelastic strains that can be recovered when subjected to specific process between two distinct phases. Regarding their unique and outstanding properties, SMAs have drawn considerable attention in various domains recently became appropriate candidates for origami robots, require bi-directional rotational motion actuation with limited operational space. However, longitudinal motion-driven actuators frequently investigated commonly mentioned, whereas studies SMA-based is still very the literature. This work provides review different research efforts related (BRM), thus survey classification current approaches design tools applied robots order achieve shape-changing. For this purpose, analytical description actuator behaviour presented, followed by characterisation performance prediction. Afterward, actuators’ methods, sensing, controlling strategies discussed. Finally, open challenges