Fig. 4
From: Sensing-actuating integrated asymmetric multilayer hydrogel muscle for soft robotics
Self-sensing behaviors of the hydrogel muscle. a Images of the hydrogel muscle lifting loads of different weights. b Relative resistance changes of the sensing layer during the lifting process. c Images of a starfish-like robot wrapping objects with different sizes. d Relative resistance changes of the sensing layer when wrapping different-sized objects. e The correlation between resistance changes and curvatures of objects
