Eduardo Torres-Jara Kyle Gilpin Josh Karges Robert J. Wood Daniela Rus Compliant Modular Shape Memory Alloy Actuators. 78-87 2010 17 IEEE Robot. Automat. Mag. 4 http://dx.doi.org/10.1109/MRA.2010.938845 db/journals/ram/ram17.html#Torres-JaraGKWR10