Eric Lanteigne Amor Jnifene Design of a Link-Less Hyper-Redundant Manipulator and Composite Shape Memory Alloy Actuator. 1180-1183 2006 conf/ccece/2006 CCECE http://dx.doi.org/10.1109/CCECE.2006.277347 db/conf/ccece/ccece2006.html#LanteigneJ06