Shape memory alloys (SMA) are used as an attractive technology in the field of actuators and sensors due to their versatile geometry, lightweight, high energy density, and low cost. The thermal activation principle, however, makes SMA application generally suitable for low-frequency (few Hz) regimes. In this work, a novel SMA-based antagonistic actuation system and its manufacturing process are presented for the first time. The main feature of the novel actuator concept is the possibility of being operated at frequencies up to at least 20 Hz. It spares the usual complex and time-consuming manufacturing of such a system. First parameter studies of a rotary actuation system are performed. The relationship existing between the pulse energy, frequency, and the resulting rotation angle is investigated through an extensive experimental campaign.