Yvonne Craig licensed her likeness. Anyone wishing to use it needed her permission. This only applied to the TV Batgirl, as well as Marta from Star Trek. Even just the idea of licensing ones likeness did not even exist in the industry when Lugosi did Dracula. He could have become very rich given the amount of merchandising done. Ferrigno needed a much better agent, he got royally screwed. Images of characters created by artists, including characters like R2D2 and C3PO, fall under 'intellectual property.' This is where heirs are being able to reclaim 'losses' in most cases. It usually does not apply to an actor portraying a character the actor did not create.
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