This paper presents a flexible artificial muscle actuator using coiled shape memory alloy (SMA) wires. The actuator mainly consisted of flexible materials and SMA wires and the fabrication was based on molding of silicon rubber. The actuator was also characterized by the motion with the body in flexion. We measured several characteristics to investigate a relationship between the bending angle of its body and the actuation. As the results, we confirmed that it was possible to actuate with the body in flexion.
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Hironari TANIGUCHI (2013) studied this question.