This deployment mechanism is built from a spherical five-bar. It uses an exceptional input singularity to hold itself stowed. Moving away from the singularity, a spring deploys the wing outward. Then the same motor which triggered this release, can be used to articulate the wing, as it has entered a new motion regime. The concept was introduced in our recent IJRR paper. S. O’Connor, M. Plecnik, and C. W. Wampler, 2025. “An Exceptional Spherical Five-bar Used as a Deployable Control Surface”, Journal of Mechanisms and Robotics. https://doi.org/10.1115/1.4070181