“…Different forms of SMA materials can be used for actuation but only the wires-type of SMA actuators will be addressed here in the current article. SMA wires are being used in medical applications [13,12], dental applications [14], automotive devices [19], SMA based motors [17], robotic manipulators [5,10,11] and other general purpose actuators [3,4,8,7,6,9]. On the other hand the design and development of SMA actuators are challenging due to low energy efficiency, slow response, hysteresis type nonlinearity which cannot be ignored and requires customized mechanical design and advanced modelling and control solutions.…”