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A hollow variable stiffness thread including a flexible inner tube, a conductive shape memory polymer (CSMP) layer arranged around the inner tube forming a variable stiffness zone, a flexible encapsulation layer arranged around the CSMP layer, and a first electrode and a second electrode, at least a portion of the first and the second electrodes being in contact with the CSMP layer.
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Mahmut Selman Sakar, Zhangjun Huang, Murat Kaynak, Haiyan Jia
Dario Floreano, Yegor Piskarev, Jun Shintake