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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.
Dario Floreano, Yegor Piskarev, Jun Shintake
Dario Floreano, Yegor Piskarev, Jun Shintake, Yi Sun, Matteo Righi
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