fig1

Figure 1. Design and fabrication of a Tri-S actuator. (A) Illustration of Tri-S actuator composition. (B) Tri-S actuator manufacturing processes by 3D-printed hybrid multi-material technology. (C) Description of Tri-S actuator with rectangular cross sections. (D) Test of Tg for PLA by differential scanning calorimetry analysis. PLA: polylactic acid; TPU: thermoplastic polyurethane.