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. 2023 Sep 8;14:5519. doi: 10.1038/s41467-023-41170-4

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© The Author(s) 2023

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 5 — A Comparison of the onset temperature T_c of B1 (62 °C), B2 (42 °C), and B3 (below 0 °C) with room temperature (RT) and the selected programming temperature (50 °C). Below T_c, the polymer is in the glassy zone (deformation is not recoverable), and above T_c is in the recovery zone (deformation is recoverable). B Schematic of the temperature response of B1, B2, and B3 after stretching coldprogramming (CP) at room temperature. C Design of the different hinge modules and the experiment and FEA results of their temperature-dependent response after stretching cold programming. The hinge is activated to the on state (bent) when the fiber and matrix materials are in a different zone and off state (straight) in the same zone. D, E Two-stage shape-morphing structures with hybrid hinge modules, and the experiment and FEA results in different temperatures. All scale bar is 1 cm.