Fig. 4

Shape memory properties of the cryogels. a–c Fast resilience and macroscopical shape memory property of the cryogels. Scale bar: 1 cm. d Schematic representation of the shape memory mechanism of the cryogel. e Microtopography of the cryogels in original state, shape-fixed state and shape recovery state after fixing. Scale bar: 400 μm. All the four cryogels under free shape showed interconnected macroporous structure with similar pore size between 100–200 µm. Compared to their shapes under free situation, all the shape-fixed cryogels presented collapsed and almost closed pores except QCSG/CNT6 still remained unclosed pores with reduced pore size. However, all the four shape-fixed cryogels still kept unbroken network. After absorbing water, all the cryogels’ morphologies were similar to those in original state