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![Stiffness-tunable and shape-locking soft actuators based on 3D-printed hybrid multi-materials](https://image.oaes.cc/820095c5-d2ce-4901-a6ae-54050f344e72/5291.fig.1.jpg)
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.