Masashi Nakatani Hiroyuki Kajimoto Kevin Vlack Dairoku Sekiguchi Naoki Kawakami Susumu Tachi Control Method for a 3D Form Display with Coil-type Shape Memory Alloy. 1332-1337 2005 conf/icra/2005 ICRA db/conf/icra/icra2005.html#NakataniKVSKT05