A method for forming a desired bend angle in an orthodontic appliance comprising: obtaining desired bend angle； determining initial bend angle to be applied in gripped state； causing forming of a bend with initial bend angle； monitoring bending； in response to initial bend angle in the appliance in the gripped state being reached, causing the release of at least a portion of the appliance so that appliance is in the free state, measuring resultant angle of the bend in free state； selectively executing: in response to resultant angle being within a predefined tolerance of the desired bend angle, determining that desired bend angle has been reached； and in response to the resultant angle being outside the predefined tolerance level of the desired bend angle, iteratively applying an adjusted bend angle to the appliance in the gripped state until the desired bend angle is achieved as determined in the free state.
