Shape-memory effector assemblies

An effector assembly, comprising:

• a first segment defining a first conduit between (i) a first proximal end having an inlet, and (ii) a first distal end having an outlet;
• an output member slidable within the conduit;
• a first shape-memory transducer affixed between the first proximal end and the output member;
• a second shape-memory transducer affixed between the first distal end and the output member;
• an electrical subassembly configured to selectively supply current to (i) bias the first shape-memory transducer to a first memory state and bias the second shape-memory transducer to a second deformed state, for sliding the output member in a first direction, or (ii) bias the second shape-memory transducer to a second memory state and bias the first shape-memory transducer to a first deformed state, for sliding the output member in a second direction;
• a second segment movably coupled to the first distal end;
• and
• a linkage between the output member and the second segment, the linkage configured to move the second segment relative to the first segment in response to sliding of the output member.