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. 2017 Jun 14;7:3511. doi: 10.1038/s41598-017-03412-6

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© The Author(s) 2017

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Programmed deployment of layered tensegrity structures. (A) Programmed deployment sequence of the 2-layer tensegrity using 2 different SMPs for the struts [DM-1 (the dark grey material) and BM (the white material)]. (B) Programmed deployment sequence of the 3-layer tensegrity using 2 different SMPs for the struts [DM-1 (the dark grey material) and BM (the white material)]. The two end layers have struts made with SMP of a lower T _g than the middle layer. (C) Programmed deployment sequence of the 3-layer tensegrity using 3 different SMPs for the struts. The three SMPs have increasing T _g’s from left to right. The darker the color, the lower the T _g. (D) Compression test of the deployed 3-layer tensegrity made with 3 different SMPs. The test reveals a maximum compression in the struts around 0.12 N. The scale bars represent 15 mm.