Fig. 3
From: Sensing-actuating integrated asymmetric multilayer hydrogel muscle for soft robotics
The working performances of the sensing layer. a Conductivity of the sensing layer after immersing in water for the duration test. b Resistance changes of the sensing layer at 2%, 4%, 6%, and 8% strain. c Relative resistance changes in the 0-100% strain and the corresponding gauge factor (GF). d Response time and release time of the sensing layer at 10% strain. e Resistance changes of sensing layer at 10% strain under 0.1–1 Hz. f The resistance changes of the hydrogel muscle during the full bending and recovery process. g The resistance changes of hydrogel muscle at 0.1 Hz driving frequency. h Relative resistance changes of hydrogel muscle maintaining different bending angles
