A shape memory alloy actuator assembly (2) is disclosed. The actuator assembly comprises a support (21), a first stage (22) moveable in at least two different non-parallel directions in a first plane relative to the support, a first set of at least two shape memory alloy wires (271) configured to move the first stage in the first plane, a second stage (23) moveable in at least two different non-parallel in a second plane parallel to or coplanar with the first plane relative to the first stage, and a second set of at least two shape memory alloy wires (272) configured to move the second stage in the second plane. The first stage is coupled to the support via the first set of shape memory alloy wires and the second stage is coupled to the first stage via the second set of shape memory alloy wires such that movement of the second stage in the second plane with respect to the support is a combination of movement of the first stage relative to support and the second stage relative to the first stage.