The only other question in regards to this subject doesn't have a precise answer and it is more about actuators that directly convert electricity into mechanical force.
Nylon or polyethylene fibers, simply called "fishing lines" are thermoactive polymers that "contract" when exposed to temperatures around 130ºC, and thus, can be used like artificial muscles. Here a simple video showing it.
However, even though I saw a lot of videos on the subject, I couldn't find the efficiency of converting heat into mechanical work.