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Peng et al. Soft Sci. 2025, 5, 38 https://dx.doi.org/10.20517/ss.2025.31 Page 15 of 19
Figure 8. “Heart” trajectory tracking results. (A) Trajectory generation in the workspace; (B) Experimental photos; (C) “Heart” trajectory
planning and tracking results; (D) Ratio of the position tracking error to the robot’s length; (E) Tensions of the SMA springs; (F) Tension
tracking errors. SMA: Shape memory alloy.
Figure 9. “Letters” trajectory tracking results. (A) “W” tracking performance; (B) “H” tracking performance; (C) “U” tracking
performance; (D) “T” tracking performance.
