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. Author manuscript; available in PMC: 2018 Feb 1.
Published in final edited form as: IEEE Trans Robot. 2016 Dec 1;33(1):240–248. doi: 10.1109/TRO.2016.2623348

TABLE I.

Status Sequence of SMA Torsion Springs

Case I 1 2 3 4 5 6 7

SMA A S1 S2 S23 S3 S4 S41 S1
SMA B S3 S4 S41 S1 S2 S23 S3

Case II 1 2 3 4 5 6 7

SMA A S1 S12 S2 S3 S34 S4 S1
SMA B S3 S34 S4 S1 S12 S2 S3