@inproceedings{Gorini1, abstract = {This paper describes the design, modelling and fabrication of a shape memory alloy micro-actuation concept for application in an endoscopic capsule. The constraints of the actuators are discussed based on the planned integration in a swallowable capsule and a preliminary concept of a legged system with shape memory alloy actuation is presented and tested. Based on the preliminary results, a modelling of the system is given in order to optimize the actuator design in terms on length, diameter, angle and force. Thus, a new high performance prototype is developed and characterized, thus verifying the theoretical model}, author = {Gorini, S. and Quirini, M. and Menciassi, A. and Pernorio, G. and Stefanini, C. and Dario, P.}, doi = {10.1109/biorob.2006.1639128}, journal = {The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.}, month = {feb}, title = {A Novel SMA-Based Actuator for a Legged Endoscopic Capsule}, url = {https://oadoi.org/10.1109/biorob.2006.1639128}, year = {1} }