Patent ID: 8733097

Claim:
A method for priming an actuator for imparting a desired motion to a load in a mechanical system, the method comprising: applying a gradually increasing first stimulus to an active material element of the actuator to vary a variable property until a priming device detects the onset of actuation for the actuator; determining a priming stimulus level based on the first stimulus at the onset of actuation of the actuator; and applying a second stimulus to the active material element of the actuator to vary the variable property until a motive force of the actuator is achieved, to thereby impart the desired motion to the load; wherein the load is moved from a first position to a second position during the determination of the appropriate priming stimulus level, wherein the system is maintained in the state corresponding to the actuator being primed until the actuator is moved to one of the third state and the first state; and wherein the load is moved to a third position during actuation of the actuator.