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. Author manuscript; available in PMC: 2016 Jul 1.
Published in final edited form as: Int J Rob Res. 2015 May 18;34(8):1147–1163. doi: 10.1177/0278364915579069

Figure 11.

Figure 11

Experimental results of the recovery force of a SMA spring at different temperatures with two different initial elongation. The figure shows how the recovery force in a SMA spring changes with temperature and initial elongation of the spring (six experiments were conducted for each data point).