fig3
![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.3.jpg)
Figure 3. Shape recovery mechanism of Tri-S actuator. (A) Shape recovery process of actuator. (B) Schematic explanation of recovery rate. (C) Characterization of shape recovery under different applied voltages as a function of electrified time.