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. Author manuscript; available in PMC: 2018 Feb 1.
Published in final edited form as: IEEE Trans Robot. 2016 Dec 1;33(1):240–248. doi: 10.1109/TRO.2016.2623348

Fig. 6.

Fig. 6

A schematic of the three cases with the full motion range by using different pre-deformation and the same number of spring turns. The definitions of ideal change, solid and dash lines, [A,M], and [M] are the same as Fig. 5. [A] means that SMA is entirely in austenite phase.