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. 2023 Feb 10;17:1047493. doi: 10.3389/fnbot.2023.1047493

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Copyright © 2023 Xie, Meng, Yu, Wu, Xu, Zeng, Zhou, Yang and Yu.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Energy transfer process of the SMA-based soft composite structure. i/U: current/voltage, T: temperature, λ: elongation of SMA spring, F: contraction force of SMA spring, F1: force of manganese steel, θ: angle of SSCS, α: angle of finger.