I. Introduction
As robotic and mechatronic systems become increasingly inspired by biological systems, the need for bioinspired actuation technologies increases. Common methods of actuation include the use of electrical motors, pneumatics, and hydraulics. The use of smart materials such as electroactive polymers and shape memory alloys (SMAs) are becoming increasingly popular in robotics due to their resemblance to muscle [1] and their biocompatibility [2]. These properties make them good candidates for hand and facial prosthetics research [3], [4]. In addition to their biocompatibility, there are also many other advantages to using SMA actuators for nonbiological mechanisms including thermostats [5], adaptive wings [6], and even humanoid robots [7], [8].