Patent ID: 7340883

Claim:
An apparatus comprising: a body including a first wall and a second wall; at least one appending structure extending from an end of the body, the appending structure including a first skin having a proximal end movably positioned between the first and second walls and a second skin coupled at a proximal end to an edge portion of the second wall, a distal end of the first skin connected to a distal end of the second skin; and at least one actuator positioned between the first and second walls, the actuator comprising: at least one shape memory alloy (SMA) wire adapted to constrict when activated to move the appending structure from a first position to a second position; a fixed pulling bracket connected to a first end of the at least one SMA and fixed to an inner side of the first wall, between the first and second walls; and a sliding pulling bracket connected to a second end of the at least one SMA and fixed to a tab extending from the proximal end of the first skin between the first and second walls.