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Experimental data and theoretical simulation of the behavior of SMA spring Y, starting from initial position ‘*’. When its antagonistic spring, SMA X, is heated, SMA Y is stretched for +10 mm (solid blue). SMA Y then unloads upon cooling of SMA X. When SMA Y is heated, its displacement trajectory (dotted blue) goes towards negative direction until it intersects with its characteristic austenite graph. It then unloads upon cooling.
