A series of shape memory polyurethane (SPU) aqueous dispersions were prepared, in which four different polyester diols such as polycaprolactone (PCL-3000), poly(butylene adipate) (PBA-3000), poly(hexylene adipate) (PHA-3000), poly(butylene sebacic acid) (PBSe-3201) with 3000 molecular weight were used as soft segments. The results showed that PCL based SPU showed the greatest tensile strength, Young modulus and the elongation. PBA based SPU exhibitted the highest water vapor transmission(WVT) and the shape ...