Titanium-Nickel Shape Memory Alloy Spring Actuator for Forward-Looking Active Catheter

Figure 4

Ti-Ni SMA actuation test. (a) Schematic of tensile tester for stretching and electrically heating the Ti-Ni SMA spring actuator; (b) actuator fixed on the specimen holder; (c) actuator tensioned by a load of 70 grams; (d) actuator electrically heated with a current of 445 mA; (e) relations between load and displacements.