An actuator includes a bistable mechanism having a tension beam and a compression beam defined by a relief slit in a flexible substrate; and a first shape memory element that upon heating actuates the actuator from a first position to a second position. A heat source can be thermally coupled to actuate...http://www.google.es/patents/US7665300?utm_source=gb-gplus-sharePatente US7665300 - Thin, flexible actuator array to produce complex shapes and force distributions
Thin, flexible actuator array to produce complex shapes and force distributions
