A new design for shape memory alloy rotatory joint actuators using shape memory effect and pseudoelastic effect is presented. In this design, one SMA wire works with its shape memory effect, while the other SMA wire works with its pseudoelastic effect. The pseudoelastic type of SMA wire provides the shape memory type of SMA wire with bias force, and therefore, the bias spring in a bias force type of SMA actuator can be eliminated. A quasi-static analysis of this type of actuators is performed which incorporates a varying load torque. General stress-strain relation and stress- temperature relation of the shape memory effect wire and a formula for an equivalent spring rate of the pseudoelastic wire are derived. Liang and Rogers' model for shape memory materials is used for the analysis. An experimental method to obtain the equivalent spring rate is also described. Design formulas for a simplified design are derived based on the quasi-static analysis of the actuator.