Fig. 4: Characterizations of COF-DT-SO₃Na-based actuator.

a EIS plot of COF-DT-SO₃Na. In all, 20 °C (blue quadrilateral line), 30 °C (red circle line), 40 °C (green upward triangle line), 50 °C (orange downward triangle line), 60 °C (pink quadrilateral line), 70 °C (cerulean-blue hexagon line), 80 °C (cyan pentagon line). b Arrhenius fitting (orange line) of ln (conductivity) versus scaled inverse temperature, experimental data (blue circle). c The process of fabricating DT-COF-SO₃Na-based soft actuators. d The CV curves of the COF-DT-SO₃Na based soft actuator at various scan rates, 0.1 V s⁻¹ (blue), 0.5 V s⁻¹ (red), and 1 V s⁻¹ (orange). e The displacement (blue line) of COF-DT-SO₃Na-based soft actuator under an AC square-wave voltage (orange line) of ±0.5 V at 0.1 Hz.