Einstein-Podolsky-Rosen(EPR) steering is one of important quantum correlations of a composite quantum system, which was observed firstly by Schrodinger in the context of the famous EPR paradox and has been discussed recently. In this paper, we give some characterizations of EPR steerability of bipartite states by proving some necessary and sufficient conditions for a state to be unsteerable with a measurement assemblage of Alice. Based on one of the obtained characterizations, we derive an EPR steering inequality, which serves to check EPR steerability of the maximally entangled states.
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