1. 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): doi: /
Figure Legend:
Schematic diagram of pulley system and SMA actuator. (Note that Au represents action unit.)

2. 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): doi: /
Figure Legend:
Free body diagram of SMA actuated jaw

3. 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): doi: /
Figure Legend:
SIMULINK model of SMA actuated jaw with constant modulus

4. 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): doi: /
Figure Legend:
Numerical and experimental results of time domain force, displacement for square wave input voltage under prestress condition (SMA wire diameter=127 μm)