@article{Matthew2019Robotics, title = {Tailored magnetic springs for shape-memory alloy actuated mechanisms in miniature robots}, author = {Woodward, Matthew A. and Sitti, Metin}, journal = {IEEE Transactions on Robotics}, volume = {35}, number = {3}, pages = {589-601}, year = {2019}, doi = {10.1109/TRO.2019.2892811} }