Fig. 1: PCEO printed by multifunctional continuous carbon fiber-reinforced SMP 3D printing technology.

a Illustration of 3D printing of CCF-SMP PCEO composite. b Schematics of the electrothermal hinge enabled by integrating Joule heating CCFs. c Demonstration of the electrical conductivity and heating capacity of CCFs. Scale bar, 20 mm. d Precise control of the CCF-SMP PCEO showcased by a simple hinged strip structure. Scale bar, 10 mm. e Stress-strain curves of the pure-SMP and CCF-SMP at 25 °C and 70 °C. f Demonstration of the stiffness improvement of CCF-SMP due to the incorporation of CCFs through experiment and FEA simulation. Scale bars, 20 mm.