Skip to main content
. Author manuscript; available in PMC: 2018 Aug 1.
Published in final edited form as: IEEE Trans Robot. 2017 Mar 29;33(4):986–993. doi: 10.1109/TRO.2017.2679199

Fig. 3.

Fig. 3

(a) Predicted heat convection coefficient with variation in the tube inner diameter and water flow rate (b) Theoretical relationship to determine SMA pre-displacement, δinitial, to ensure coverage of the desired motion range