An actuator adapted to incrementally translate and/or rotate an object, the actuator comprising a body comprising a first portion, a second portion, and an opening coaxially extending from the first portion and the second portion, wherein the opening is dimensioned to accommodate a diameter or cross...http://www.google.com/patents/US7548010?utm_source=gb-gplus-sharePatent US7548010 - Active material based actuators for large displacements and rotations
