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. 2024 Jun 7;14(3):20230072. doi: 10.1098/rsfs.2023.0072

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© 2024 The Authors.

Published by the Royal Society under the terms of the Creative Commons Attribution License http://creativecommons.org/licenses/by/4.0/, which permits unrestricted use, provided the original author and source are credited.

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(a) F0–u0 curves for different synthetic fin rays. The actuation stiffness increases (and the compliance Q decreases) for stiffer core stiffness Ec. — (a) F₀–u₀ curves for different synthetic fin rays. The actuation stiffness increases (and the compliance Q decreases) for stiffer core stiffness E_c . The coreless ray shows softening associated with buckling. (b) Morphing compliance, normalized by the morphing compliance of the coreless design (E_c = 0) from models and experiments.