Date of download: 10/24/2017 Copyright © ASME. All rights reserved. From: Twelve Degree of Freedom Baby Humanoid Head Using Shape Memory Alloy Actuators J. Mechanisms Robotics. 2011;3(1):011008-011008-18. doi:10.1115/1.4003005 Figure Legend: Schematic diagram of pulley system and SMA actuator. (Note that Au represents action unit.)

Date of download: 10/24/2017 Copyright © ASME. All rights reserved. From: Twelve Degree of Freedom Baby Humanoid Head Using Shape Memory Alloy Actuators J. Mechanisms Robotics. 2011;3(1):011008-011008-18. doi:10.1115/1.4003005 Figure Legend: Free body diagram of SMA actuated jaw

Date of download: 10/24/2017 Copyright © ASME. All rights reserved. From: Twelve Degree of Freedom Baby Humanoid Head Using Shape Memory Alloy Actuators J. Mechanisms Robotics. 2011;3(1):011008-011008-18. doi:10.1115/1.4003005 Figure Legend: SIMULINK model of SMA actuated jaw with constant modulus

Date of download: 10/24/2017 Copyright © ASME. All rights reserved. From: Twelve Degree of Freedom Baby Humanoid Head Using Shape Memory Alloy Actuators J. Mechanisms Robotics. 2011;3(1):011008-011008-18. doi:10.1115/1.4003005 Figure Legend: Numerical and experimental results of time domain force, displacement for square wave input voltage under prestress condition (SMA wire diameter=127 μm)