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This paper proposes a prototype of a high performance robotic actuator, based on shape memory alloys. The actuator prototype was designed for generating a torque of 75 Nmm. It consists of a wire with rectangular section which is driving a pulley system. A bias spring is used to preload the system. This design is to be used within the links of a human-sized multi-fingered robot hand. Therefore a highly miniaturised actuator had to be built. Resistive heating and oil cooling are used to obtaindoi:10.1051/jp4:1991424 fatcat:7j57tef67jdjviv3n7mosb67fu